stretch-mujoco-manipulation/ridge_plantation.xml at main · BhushanGatty/stretch-mujoco-manipulation · GitHub

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<mujoco model="ridge_plantation">
    <compiler angle="degree" coordinate="local"/>
    <option timestep="0.01" gravity="0 0 -9.8"/>

    <asset>
        <material name="ground_mat" rgba="0.2 0.2 0.2 1"/>
        <material name="soil_mat" rgba="0.4 0.25 0.1 1"/>
        <material name="berry_mat" rgba="1 0 0 1"/>
    </asset>

    <worldbody>
        <!-- Single light for scene -->
        <light pos="0 1 2" dir="0 0 -1" diffuse="1 1 1"/>

        <!-- Main camera looking at ridge -->
        <camera name="main_cam" pos="0 -4 3" euler="30 0 0"/>

        <!-- Ground -->
        <geom type="plane" size="10 10 0.1" material="ground_mat"/>

        <!-- Soil ridge -->
        <geom type="box" size="5 0.4 0.2" pos="0 1 0.2" material="soil_mat"/>

        <!-- Strawberries -->
        <body name="berry1" pos="-2 1 0.5">
            <geom type="sphere" size="0.05" material="berry_mat"/>
        </body>

        <body name="berry2" pos="-1 1 0.5">
            <geom type="sphere" size="0.05" material="berry_mat"/>
        </body>

        <body name="berry3" pos="0 1 0.5">
            <geom type="sphere" size="0.05" material="berry_mat"/>
        </body>

        <!-- Simple robot base -->
        <body name="robot" pos="0 -2 0.1">
            <geom type="box" size="0.2 0.2 0.1" rgba="0 0 1 1"/>

            <joint name="x" type="slide" axis="1 0 0"/>
            <joint name="y" type="slide" axis="0 1 0"/>
        </body>

    </worldbody>

    <actuator>
        <motor joint="x" ctrlrange="-1 1"/>
        <motor joint="y" ctrlrange="-1 1"/>
    </actuator>

</mujoco>