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Release 1.0.0
Imported environment robot files from mc_mujoco@8934988
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‎CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.22)
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project(env_mj_description VERSION 1.0.0)
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option(HONOR_INSTALL_PREFIX "Whether to install in CMAKE_INSTALL_PREFIX (for nix)" OFF)
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if(HONOR_INSTALL_PREFIX)
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set(MC_MUJOCO_SHARE_DESTINATION "${CMAKE_INSTALL_PREFIX}")
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elseif(NOT TARGET mc_mujoco)
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find_package(mc_mujoco REQUIRED)
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endif()
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function(setup_env_object NAME ENV_OBJECT)
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set(YAML_OUT "${CMAKE_CURRENT_BINARY_DIR}/robots/${NAME}.yaml")
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configure_file(robots/${NAME}.in.yaml "${YAML_OUT}")
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install(FILES "${YAML_OUT}" DESTINATION "${MC_MUJOCO_SHARE_DESTINATION}")
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install(FILES "robots/${NAME}.xml"
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DESTINATION "${MC_MUJOCO_SHARE_DESTINATION}/${ENV_OBJECT}")
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install(DIRECTORY robots/assets
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DESTINATION "${MC_MUJOCO_SHARE_DESTINATION}/${ENV_OBJECT}")
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endfunction()
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setup_env_object(ground env)
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setup_env_object(box object)
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setup_env_object(longtable object)
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setup_env_object(table object)

‎robots/assets/README.md‎

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### Credits
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- `marble.png`: www.mujoco.org

‎robots/assets/longtable.stl‎

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‎robots/assets/marble.png‎

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‎robots/assets/table.stl‎

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‎robots/box.in.yaml‎

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xmlModelPath: "@MC_MUJOCO_SHARE_DESTINATION@/object/box.xml"

‎robots/box.xml‎

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<mujoco model="box">
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<asset>
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<texture name="texgeom" type="cube" builtin="flat" mark="cross" width="128" height="128"
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rgb1="0.6 0.6 0.6" rgb2="0.6 0.6 0.6" markrgb="1 1 1"/>
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<material name='object' texture="texgeom" texuniform="true" rgba=".4 .9 .6 1" />
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</asset>
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<default>
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<default class="shape">
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<geom type="box" size="0.1105 0.1155 0.05"/>
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<default class="collision">
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<geom condim="3" group="0" rgba="0.266754 0.174546 0.0644028 1" />
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</default>
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<default class="visual">
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<geom condim="3" group="1" material="object" conaffinity="0" contype="0" />
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</default>
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</default>
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</default>
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<worldbody>
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<light mode="targetbodycom" target="base_link" directional="false" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 0 4.0" dir="0 0 -1" />
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<body name="base_link">
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<joint name="root" type="free" />
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<inertial pos="0 0 0" mass="3" diaginertia="0.01584025 0.01471025 0.0255505"/>
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<geom class="collision" />
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<geom class="visual" />
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</body>
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</worldbody>
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</mujoco>

‎robots/ground.in.yaml‎

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xmlModelPath: "@MC_MUJOCO_SHARE_DESTINATION@/env/ground.xml"

‎robots/ground.xml‎

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<mujoco model="ground">
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<visual>
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<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
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<rgba haze="0.15 0.25 0.35 1"/>
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</visual>
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<asset>
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<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
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<texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
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<material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
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</asset>
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<worldbody>
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<light pos="0 0 2" dir="0 0 -1" directional="true"/>
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<body name="base_link">
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<geom name="floor" pos="0 0 0" size="0 0 .25" type="plane" material="matplane" condim="3" group="1"/>
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</body>
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</worldbody>
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</mujoco>

‎robots/longtable.in.yaml‎

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xmlModelPath: "@MC_MUJOCO_SHARE_DESTINATION@/object/longtable.xml"

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