Behron
3e39a34a7a
More merge conflicts. Taking main changes then will integrate mine.
51 lines
1.8 KiB
XML
51 lines
1.8 KiB
XML
<mujoco model="base">
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<compiler angle="radian" meshdir="assets"/>
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<option integrator="implicitfast"/>
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<default>
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<default class="visual">
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<geom type="mesh" contype="0" conaffinity="0" group="2"/>
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</default>
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<default class="collision">
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<geom type="mesh" group="3"/>
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</default>
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</default>
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<asset>
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<material name="black" rgba="0.11372549 0.11372549 0.10196078 1"/>
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<material name="gray" rgba="0.62745098 0.65098039 0.64705882 1"/>
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<material name="dark_gray" rgba="0.35294118 0.37647059 0.37254902 1"/>
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<mesh file="base/bumper.stl"/>
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<mesh file="base/bottom_plate.stl"/>
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<mesh file="base/body.stl"/>
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<mesh file="base/top_plate.stl"/>
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<mesh file="base/arm_plate.stl"/>
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</asset>
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<worldbody>
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<body name="base_link">
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<inertial pos="0 0 0.035" mass="60" diaginertia="0.001 0.001 0.001"/>
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<joint name="joint_x" type="slide" axis="1 0 0"/>
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<joint name="joint_y" type="slide" axis="0 1 0"/>
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<joint name="joint_th"/>
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<geom class="visual" mesh="bumper" material="black"/>
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<geom class="visual" mesh="bottom_plate" material="dark_gray"/>
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<geom class="visual" mesh="body" material="gray"/>
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<geom class="visual" mesh="top_plate" material="dark_gray"/>
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<geom class="visual" mesh="arm_plate" material="gray"/>
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<geom class="collision" mesh="bumper"/>
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<geom class="collision" mesh="bottom_plate"/>
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<geom class="collision" mesh="body"/>
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<geom class="collision" mesh="top_plate"/>
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<geom class="collision" mesh="arm_plate"/>
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</body>
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</worldbody>
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<actuator>
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<position name="joint_x" joint="joint_x" kp="1000000" kv="50000"/>
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<position name="joint_y" joint="joint_y" kp="1000000" kv="50000"/>
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<position name="joint_th" joint="joint_th" kp="50000" kv="1000"/>
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</actuator>
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</mujoco>
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