gym_hil/assets/arrange_boxes_scene.xml (99 lines of code) (raw):
<mujoco model="ArrangeBoxesScene">
<include file="panda.xml"/>
<option timestep=".002" noslip_iterations="5" noslip_tolerance="0"/>
<statistic center="0.3 0 0.4" extent=".8"/>
<visual>
<headlight diffuse=".4 .4 .4" ambient=".5 .5 .5"/>
<global azimuth="160" elevation="-20" offheight="128" offwidth="128"/>
<quality offsamples="8"/>
</visual>
<asset>
<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
<!-- <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1="0 0 0" rgb2="0 0 0"/> -->
<material name="grid" texture="grid" texrepeat="2 2" texuniform="true" reflectance="0"/>
</asset>
<worldbody>
<camera name="front" pos="1.3 0.0 0.7" quat="0.5963678 0.3799282 0.3799282 0.5963678" fovy="45"/>
<light pos="0 0 3" dir="0 0 -1" diffuse="1 1 1" specular=".3 .3 .3"/>
<light pos="0 -.5 .4" mode="targetbodycom" target="block1" diffuse=".8 .8 .8" specular=".3 .3 .3"/>
<geom name="floor" size="3 3 0.01" type="plane" material="grid"/>
<body name="block1" pos="0.3 -.3 .02">
<freejoint name="block1"/>
<geom name="block1" type="box" size=".02 .02 .02" mass="0.1" rgba="1.0 .0 .0 1"/>
</body>
<body name="block2" pos="0.3 -.15 .02">
<freejoint name="block2"/>
<geom name="block2" type="box" size=".02 .02 .02" mass="0.1" rgba=".0 .0 1.0 1"/>
</body>
<body name="block3" pos="0.3 0 .02">
<freejoint name="block3"/>
<geom name="block3" type="box" size=".02 .02 .02" mass="0.1" rgba=".1 .3 .1 1"/>
</body>
<body name="block4" pos="0.3 .15 .02">
<freejoint name="block4"/>
<geom name="block4" type="box" size=".02 .02 .02" mass="0.1" rgba=".2 .66 .32 1"/>
</body>
<body name="block5" pos="0.3 .3 .02">
<freejoint name="block5"/>
<geom name="block5" type="box" size=".02 .02 .02" mass="0.1" rgba=".6 .3 .6 1"/>
</body>
<body name="target" pos=".15 0 .5" quat="0 1 0 0" mocap="true">
<geom name="target" type="box" size=".03 .03 .03" contype="0" conaffinity="0" rgba=".6 .3 .3 0"/>
</body>
<!-- Targets-->
<body name="target1" pos=".5 -.3 0">
<geom name="target1" type="box" size=".05 .05 .005" contype="0" conaffinity="0" rgba="1.0 .0 .0 .35"/>
</body>
<body name="target2" pos=".5 -.15 0">
<geom name="target2" type="box" size=".05 .05 .005" contype="0" conaffinity="0" rgba=".0 .0 1.0 .35"/>
</body>
<body name="target3" pos=".5 0 0">
<geom name="target3" type="box" size=".05 .05 .005" contype="0" conaffinity="0" rgba=".1 .3 .1 .35"/>
</body>
<body name="target4" pos=".5 .15 0">
<geom name="target4" type="box" size=".05 .05 .005" contype="0" conaffinity="0" rgba=".2 .66 .32 .35"/>
</body>
<body name="target5" pos=".5 .3 0">
<geom name="target5" type="box" size=".05 .05 .005" contype="0" conaffinity="0" rgba=".6 .3 .6 .35"/>
</body>
</worldbody>
<!-- Block Sensors -->
<sensor>
<framepos name="block1_pos" objtype="geom" objname="block1"/>
<framequat name="block1_quat" objtype="geom" objname="block1"/>
</sensor>
<sensor>
<framepos name="block2_pos" objtype="geom" objname="block2"/>
<framequat name="block2_quat" objtype="geom" objname="block2"/>
</sensor>
<sensor>
<framepos name="block3_pos" objtype="geom" objname="block3"/>
<framequat name="block3_quat" objtype="geom" objname="block3"/>
</sensor>
<sensor>
<framepos name="block4_pos" objtype="geom" objname="block4"/>
<framequat name="block4_quat" objtype="geom" objname="block4"/>
</sensor>
<sensor>
<framepos name="block5_pos" objtype="geom" objname="block5"/>
<framequat name="block5_quat" objtype="geom" objname="block5"/>
</sensor>
<!-- Target Sensors -->
<sensor>
<framepos name="target1_pos" objtype="geom" objname="target1"/>
<framequat name="target1_quat" objtype="geom" objname="target1"/>
</sensor>
<sensor>
<framepos name="target2_pos" objtype="geom" objname="target2"/>
<framequat name="target2_quat" objtype="geom" objname="target2"/>
</sensor>
<sensor>
<framepos name="target3_pos" objtype="geom" objname="target3"/>
<framequat name="target3_quat" objtype="geom" objname="target3"/>
</sensor>
<sensor>
<framepos name="target4_pos" objtype="geom" objname="target4"/>
<framequat name="target4_quat" objtype="geom" objname="target4"/>
</sensor>
<sensor>
<framepos name="target5_pos" objtype="geom" objname="target5"/>
<framequat name="target5_quat" objtype="geom" objname="target5"/>
</sensor>
</mujoco>