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Updates to the models #7

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Updates to the models #7

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32bf733
Minor changes to the table body
ndelima-ekumen Jan 30, 2025
529540f
Minor changes to the office xml
ndelima-ekumen Jan 30, 2025
77e535d
Modified the scene xml
ndelima-ekumen Jan 30, 2025
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9 changes: 5 additions & 4 deletions andino_mujoco/andino_mujoco_description/mjcf/include/hq4_office.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -2,13 +2,14 @@
<compiler angle="radian" meshdir="../meshes" balanceinertia="true"/>

<asset>
<mesh name="hq4_office" file="hq4_office_ceiling.stl" scale="1 1 1"/>
<material name="material_1" emission="0.85" specular="0.35" rgba="0.5 0.5 0.5 1"/>
<material name="Wall" emission="0.85" specular="0.35" rgba="0.5 0.5 0.5 1"/>

<mesh name="hq4_office" file="hq4_office_ceiling.stl"/>
</asset>

<worldbody>
<body name="hq4_office" pos="0. 0. -0.10" euler="0. 0. -1.57">
<geom name="office" type="mesh" mesh="hq4_office" group="2" contype="0" conaffinity="0" material="material_1"/>
<body name="hq4_office" euler="0. 0. -1.57">
<geom mesh="hq4_office" material="Wall" type="mesh" contype="0" conaffinity="0" group="1"/>
</body><!-- hq4_office -->
</worldbody>
</mujoco>
24 changes: 14 additions & 10 deletions andino_mujoco/andino_mujoco_description/mjcf/include/table.xml
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Original file line number Diff line number Diff line change
@@ -1,45 +1,49 @@
<mujoco model="table">
<compiler angle="radian" balanceinertia="true"/>

<asset>
<material name="Wood" rgba="0.52 0.38 0.25 1"/>
</asset>

<worldbody>
<body name="table" pos="0.0 0.0 0.6">
<body name="table" pos="0.0 0.0 0.625">

<body name="left_side_table" pos="0.0 -0.5850000000000001 0.05">
<geom name="left_side" type="box" size="1.12 0.025 0.05" rgba="0.52 0.38 0.25 1"/>
<geom name="left_side" type="box" size="1.12 0.025 0.05" material="Wood"/>
</body><!-- Left side -->

<body name="right_side_table" pos="0.0 0.5850000000000001 0.05">
<geom name="right_side" type="box" size="1.12 0.025 0.05" rgba="0.52 0.38 0.25 1"/>
<geom name="right_side" type="box" size="1.12 0.025 0.05" material="Wood"/>
</body><!-- Right side -->

<body name="front_side_table" pos="1.145 0.0 0.05">
<geom name="front_side" type="box" size="0.025 0.56 0.05" rgba="0.52 0.38 0.25 1"/>
<geom name="front_side" type="box" size="0.025 0.56 0.05" material="Wood"/>
</body><!-- Front side -->

<body name="back_side_table" pos="-1.145 0.0 0.05">
<geom name="back_side" type="box" size="0.025 0.56 0.05" rgba="0.52 0.38 0.25 1"/>
<geom name="back_side" type="box" size="0.025 0.56 0.05" material="Wood"/>
</body><!-- Back side -->

<body name="base_table" pos="0.0 0.0 -0.025">
<geom name="base_surface" type="box" size="1.12 0.56 0.025" friction="1 0.005 0.0001" rgba="0.52 0.38 0.25 1"/>
<geom name="base_surface" type="box" size="1.12 0.56 0.025" friction="1 0.005 0.0001" material="Wood"/>
</body><!-- Base -->

<body name="table_legs" pos="0.0 0.0 -0.6">

<body name="left_top_leg" pos="1.12 0.56 0.27499999999999997">
<geom name="left_top_leg" type="box" size="0.05 0.05 0.3" rgba="0.52 0.38 0.25 1"/>
<geom name="left_top_leg" type="box" size="0.05 0.05 0.3" material="Wood"/>
</body><!-- left_top_leg -->

<body name="right_top_leg" pos="1.12 -0.56 0.27499999999999997">
<geom name="right_top_leg" type="box" size="0.05 0.05 0.3" rgba="0.52 0.38 0.25 1"/>
<geom name="right_top_leg" type="box" size="0.05 0.05 0.3" material="Wood"/>
</body><!-- right_top_leg -->

<body name="left_bottom_leg" pos="-1.12 0.56 0.27499999999999997">
<geom name="left_bottom_leg" type="box" size="0.05 0.05 0.3" rgba="0.52 0.38 0.25 1"/>
<geom name="left_bottom_leg" type="box" size="0.05 0.05 0.3" material="Wood"/>
</body><!-- left_bottom_leg -->

<body name="right_bottom_leg" pos="-1.12 -0.56 0.27499999999999997">
<geom name="right_bottom_leg" type="box" size="0.05 0.05 0.3" rgba="0.52 0.38 0.25 1"/>
<geom name="right_bottom_leg" type="box" size="0.05 0.05 0.3" material="Wood"/>
</body><!-- right_bottom_leg -->

</body><!-- Legs -->
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19 changes: 14 additions & 5 deletions andino_mujoco/andino_mujoco_description/mjcf/scene.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -5,12 +5,21 @@
<include file="include/table.xml"/>
<include file="include/hq4_office.xml"/>

<worldbody>
<light diffuse="1 1 1" pos = "0 0 12" dir="0 0 -1"></light>
<light diffuse="1 1 1" pos = "0 4 0" dir="0 -1 0"></light>
<light diffuse="1 1 1" pos = "4 0 0" dir="-1 0 0"></light>
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
<rgba haze="0.15 0.25 0.35 1"/>
<global azimuth="120" elevation="-20"/>
</visual>

<asset>
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
markrgb="0.8 0.8 0.8" width="300" height="300"/>

<geom name="ground_plane" type="plane" size="10 17 0.1" friction=".1" contype="1" conaffinity="1" rgba="0 .5 .8 1"/>
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
</asset>

<worldbody>
<geom name="ground_plane" type="plane" pos="0 0 0" size="0 0 1" friction=".1" rgba="0 .5 .8 1" material="groundplane"/>
</worldbody>

</mujoco>