robogym/assets/xmls/rubik/rubik_perpendicular_vision.xml [1:49]:
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<mujoco>
    <default>
        <default class="cube">
            <!-- ===== Defaults for small cubelet joints ===== -->

            <!-- ===== Defaults for the cubelet/driver hinge joints ==== -->
            <!-- Original joint damping/friction very likely to be too strong as we just have many more joints  -->
            <!-- <joint damping='0.05' armature='0.0001' frictionloss="0.05"/> -->
            <!-- Setting similar to the original bur probably still to strong:  -->
            <!-- <joint damping='0.005' armature='0.0001' frictionloss="0.005"/> -->

            <joint damping='0.0005' armature='0.0001' frictionloss="0.0005"/>

            <!-- ===== Defaults for small cubelet geoms ===== -->
            <!-- Original geom friction settings -->
            <!-- <geom condim="6" density="842" friction="0.4 0.005 0.001"/> -->
            <!-- Current settings, making a friction closer to the half of original frictions -->
            <geom condim="6" density="521" friction="0.2 0.0025 0.0005"/>
        </default>

        <default class="cubemain">
            <joint damping='0.0' armature='0.0' frictionloss="0"/>
        </default>

        <default class="slide">
            <!-- These joints need "strong" armature to make high stiffness stable -->
            <joint stiffness="500.0" springref="0" armature="0.01" ref="0" damping="0.005" frictionloss="0.005" limited="true" range="-0.001 0.0002"/>
        </default>

        <default class="cubelet">
            <geom type="mesh" mesh="rounded_cube" material="cubelet_material" size="0.01 0.01 0.01" rgba="0 0 0 1" />
        </default>

        <default class="sticker">
            <geom type="box" conaffinity="0" contype="0" />
        </default>
    </default>

    <!-- Asset part -->
    <asset>
        <material name="cubelet_material" specular="1" shininess=".3" rgba="0 0 0 1" />
        <mesh name="rounded_cube" file="rounded_cubelet.stl" />
        <!-- sticker -->
        <material name="sticker_R" specular=".3" shininess="0.3" rgba="0.3843137254901961 0.09411764705882353 0.03529411764705882 1" />
        <material name="sticker_O" specular=".3" shininess="0.3" rgba="0.5137254901960784 0.2823529411764706 0.01568627450980392 1" />
        <material name="sticker_Y" specular=".3" shininess="0.3" rgba="0.5019607843137255 0.4549019607843137 0.050980392156862744 1" />
        <material name="sticker_W" specular=".3" shininess="0.3" rgba="0.596078431372549 0.6196078431372549 0.5607843137254902 1" />
        <material name="sticker_G" specular=".3" shininess="0.3" rgba="0.00784313725490196 0.3137254901960784 0.19215686274509805 1" />
        <material name="sticker_B" specular=".3" shininess="0.3" rgba="0.043137254901960784 0.13333333333333333 0.30980392156862746 1" />
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robogym/assets/xmls/rubik/rubik_perpendicular_vision_corner_cutoff.xml [1:49]:
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<mujoco>
    <default>
        <default class="cube">
            <!-- ===== Defaults for small cubelet joints ===== -->

            <!-- ===== Defaults for the cubelet/driver hinge joints ==== -->
            <!-- Original joint damping/friction very likely to be too strong as we just have many more joints  -->
            <!-- <joint damping='0.05' armature='0.0001' frictionloss="0.05"/> -->
            <!-- Setting similar to the original bur probably still to strong:  -->
            <!-- <joint damping='0.005' armature='0.0001' frictionloss="0.005"/> -->

            <joint damping='0.0005' armature='0.0001' frictionloss="0.0005"/>

            <!-- ===== Defaults for small cubelet geoms ===== -->
            <!-- Original geom friction settings -->
            <!-- <geom condim="6" density="842" friction="0.4 0.005 0.001"/> -->
            <!-- Current settings, making a friction closer to the half of original frictions -->
            <geom condim="6" density="521" friction="0.2 0.0025 0.0005"/>
        </default>

        <default class="cubemain">
            <joint damping='0.0' armature='0.0' frictionloss="0"/>
        </default>

        <default class="slide">
            <!-- These joints need "strong" armature to make high stiffness stable -->
            <joint stiffness="500.0" springref="0" armature="0.01" ref="0" damping="0.005" frictionloss="0.005" limited="true" range="-0.001 0.0002"/>
        </default>

        <default class="cubelet">
            <geom type="mesh" mesh="rounded_cube" material="cubelet_material" size="0.01 0.01 0.01" rgba="0 0 0 1" />
        </default>

        <default class="sticker">
            <geom type="box" conaffinity="0" contype="0" />
        </default>
    </default>

    <!-- Asset part -->
    <asset>
        <material name="cubelet_material" specular="1" shininess=".3" rgba="0 0 0 1" />
        <mesh name="rounded_cube" file="rounded_cubelet.stl" />
        <!-- sticker -->
        <material name="sticker_R" specular=".3" shininess="0.3" rgba="0.3843137254901961 0.09411764705882353 0.03529411764705882 1" />
        <material name="sticker_O" specular=".3" shininess="0.3" rgba="0.5137254901960784 0.2823529411764706 0.01568627450980392 1" />
        <material name="sticker_Y" specular=".3" shininess="0.3" rgba="0.5019607843137255 0.4549019607843137 0.050980392156862744 1" />
        <material name="sticker_W" specular=".3" shininess="0.3" rgba="0.596078431372549 0.6196078431372549 0.5607843137254902 1" />
        <material name="sticker_G" specular=".3" shininess="0.3" rgba="0.00784313725490196 0.3137254901960784 0.19215686274509805 1" />
        <material name="sticker_B" specular=".3" shininess="0.3" rgba="0.043137254901960784 0.13333333333333333 0.30980392156862746 1" />
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