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vivi-ennevivi-enne
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Add ball to mujoco (#2144)
* start with bouncy ball * add ball texture * make ball smooth and separate file * address review comment * review comments * move joint
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Lines changed: 2112 additions & 14 deletions

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‎tools/mujoco-simulator/mujoco-simulator/K1/K1.xml‎

Lines changed: 10 additions & 13 deletions
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
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<mujoco model="K1">
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<compiler angle="radian" meshdir="meshes/" />
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<compiler angle="radian" meshdir="meshes/" texturedir="textures/" />
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<asset>
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<texture
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mark="cross"
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markrgb=".8 .8 .8"
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/>
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<material
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name="matplane"
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reflectance="0.3"
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<mesh name="Right_Foot" file="Right_Foot.STL" />
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</asset>
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<include file="ball.xml" />
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<worldbody>
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<light
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directional="true"
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condim="1"
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/>
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<geom name="static_box"
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type="box"
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size="0.2 0.2 1" pos="2 1 0" rgba="0.8 0.2 0.2 1"/>
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<geom type="sphere"
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size="0.2"
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pos="2 -1 0.2"
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rgba="0.2 0.8 0.2 1"
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mass="1"/>
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<geom name="static_box"
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type="box"
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size="0.2 0.2 1" pos="2 1 0" rgba="0.8 0.2 0.2 1" />
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<body name="Trunk" pos="0 0 0.6">
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<site name='imu' size='0.01' pos='0.0 0.0 0.0' />
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/>
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<geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="Head_2" />
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<body name="camera_body" pos="0.05868 0.00002 0.09849" euler="0 -1.5707963267 0">
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<camera euler="0.0 -0.2125811028 -1.5707963267"
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ipd="0.064" resolution="1936 1216" name="camera" />
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<camera euler="0.0 -0.2125811028 -1.5707963267"
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ipd="0.064" resolution="1936 1216" name="camera" />
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</body>
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</body>
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</body>
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<accelerometer name="accelerometer" site="imu" noise="0.005" />
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</sensor>
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</mujoco>
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</mujoco>

‎tools/mujoco-simulator/mujoco-simulator/K1/ball.xml‎

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Original file line numberDiff line numberDiff line change
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<mujoco model="ball">
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<compiler angle="radian" meshdir="meshes/" />
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<asset>
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<texture
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name="ball_rgb"
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type="2d"
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file="football_base_color.png"
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/>
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<texture
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name="ball_normal"
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type="2d"
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file="football_normal.png"
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/>
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<material name="ball">
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<layer texture="ball_rgb" role="rgb" />
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<layer texture="ball_normal" role="normal" />
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</material>
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<mesh name="ball" file="ball.obj" scale="0.095 0.095 0.095" />
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</asset>
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<worldbody>
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<body pos="2 -1 2.0">
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<joint
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name="ball_free_joint"
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type="free"
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limited="false"
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actuatorfrclimited="false"
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/>
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<geom name="ball"
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type="sphere"
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size="0.095"
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mass="0.450"
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solref="0.08 0.25"
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priority="1"
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rgba="1 1 1 0"
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/>
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<geom name="ball_visual"
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type="mesh"
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size="0.095"
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mesh="ball"
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mass="0"
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contype="0"
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conaffinity="0"
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material="ball"
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/>
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</body>
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</worldbody>
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</mujoco>

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