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type string | contents string |
|---|---|
XML | <?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="enable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<def... |
XML | <?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="disable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
... |
XML |
<mujoco model="inverted-pendulum">
<compiler inertiafromgeom="true"/>
<default>
<joint armature="0" damping="1" limited="true"/>
<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
<tendon/>
<motor ctrlrange="-3 3"/>
</default>
<option gravity="0 0 -9.81" integrator="RK4" timestep="0.02"/>
<size n... |
XML | <mujocoinclude name='rod_visual'>
<body name="pipe_visual" pos="0 0 0" euler="1.57 0 0">
<geom type="capsule" size=".04 .165" rgba="0 1 0 .01" group="1" contype="0" conaffinity="0"/>
<body pos="0 0 0." euler='0 0 0.785'>
<geom type="box" pos="0.05 0 0.02" size="0.01 0.025 0.2" rgba='0.16 0.5 0.... |
XML | <?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="enable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
... |
XML | <mujoco>
<asset>
<texture file="wood.png"/>
<texture name="wood2d" type="2d" file="wood.png"/>
<texture file="square.png"/>
<texture name="foil" file="silverRaw.png"/>
<texture file="woodb.png"/>
<material name="MatFoil" texture="foil" specular="1" shininess=".3" rgba=".9 .9 .9 1"/>
<mat... |
XML | <?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="enable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<def... |
XML | <mujoco>
<texture type="skybox" builtin="gradient" rgb1="0.44 0.85 0.56" rgb2="0.46 0.87 0.58" width="32" height="32"></texture>
<material name="floor_mat" specular="0" shininess="0.5" reflectance="0" rgba="1 1 1 1"></material>
<material name="block_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.2 0.2 ... |
XML | <?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="disable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
... |
XML | <?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="enable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
... |
XML | <?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="enable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<def... |
XML | <mujocoinclude>
<body childclass="club_base">
<geom material="club_wood" mesh="club_handle" pos="-0.005 0 0.092"/>
<geom material="club_black" mesh="club_head" pos="-0.08 0 0.0"/>
<geom material="club_black" mesh="club_tape" pos="-0.005 0 0.092"/>
<geom class="club_col" euler="1.57 0 0"... |
XML | <?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="disable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
... |
XML | <mujoco>
<include file="shared_options.xml" />
<include file="sr_hand_e_left_options.xml" />
<asset>
<include file="shared_assets_left.xml" />
</asset>
<worldbody>
<geom condim="3" material="mat_plane" name="floor" pos="0 0 0" size="5 5 0.001" type="plane" />
<body name="floo... |
XML | <mujoco model="eSeries_UR16e">
<include file="shared.xml"/>
<include file="joint_actuations.xml"/>
<worldbody>
<include file="robot.xml"/>
</worldbody>
</mujoco>
|
XML | <mujoco>
<include file="MPL.xml"/>
<include file="assets.xml"/>
<default>
<default class="board">
<geom type="box" material="MatWood"/>
</default>
</default>
<worldbody>
<body childclass="board" pos="0 0 0.009">
<geom name="farr" pos="0 0.18 0" size="0.05 0.07 0.01"/>
<geom name="mid... |
XML | <!-- ======================================================
Model :: Latch and door
Mujoco :: Advanced physics simulation engine
Source : www.roboti.us
Version : 1.41
Released : 22Aug'16
Author :: Vikash Kumar
Contacts : kumar@roboti.us
Last edits : 05Oct'16
=====================================... |
XML | <?xml version="1.0" encoding="utf-8"?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="../stls/fetch" texturedir="../textures"></compiler>
<!--<compiler angle="radian" coordinate="local" meshdir="../stls/baxter" texturedir="../textures"></compiler> !-->
<option timestep="0.002">
<flag warmstart="enab... |
XML | <mujoco model="human">
<asset>
<mesh file="meshes/visualhuman.stl" name="human_mesh" scale="0.65 0.65 0.65"/>
</asset>
<worldbody>
<body>
<body name="object">
<geom pos="0 0 0" mesh="human_mesh" type="mesh" rgba="0.8 0.8 0.8 0.3" conaffinity="0" contype="0" group="1" mass="0.0001"/>
... |
XML | <mujoco model="inverted pendulum">
<compiler inertiafromgeom="true"/>
<default>
<joint armature="0" damping="1" limited="true"/>
<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
<tendon/>
<motor ctrlrange="-3 3"/>
</default>
<option gravity="0 0 -9.81" integrator="RK4" timestep="0.02"/>
<size ns... |
XML | <mujoco>
<include file="MPL.xml"/>
<include file="assets.xml"/>
<default>
<default class="board">
<geom type="box" material="MatWood"/>
</default>
</default>
<worldbody>
<body childclass="board" pos="0 0 0.009">
<geom name="farr" pos="0 0.2 0" size="0.05 0.05 0.01"/>
<geom name="midf... |
XML | <mujocoinclude>
<default>
<default class="ur_jntrange_full">
<include file="../../jointrange_defaults.xml"/>
<default class="jointbase">
<joint damping="0.01" armature=".01" frictionloss=".01"/>
<default class="ur16e_J1"/>
<default clas... |
XML | <?xml version="1.0" encoding="utf-8"?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="../stls/fetch" texturedir="../textures"></compiler>
<option timestep="0.002">
<flag warmstart="enable"></flag>
</option>
<include file="shared.xml"></include>
<worldbody>
<geom name="floor0" pos="0.8 0.75 0"... |
XML | <?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="enable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<def... |
XML | <mujoco model="arena">
<compiler angle="radian"/>
<asset>
<texture type='skybox' builtin='gradient' rgb1='.4 .6 .8' rgb2='0 0 0' width='100' height='100'/>
<texture name='groundplane' type='2d' builtin='checker' rgb1='.2 .3 .4' rgb2='.1 .2 .3' width='300' height='300' mark='edge' markrgb='.8 .8 .8'/>
<m... |
XML | <mujoco model="arm3d">
<compiler inertiafromgeom="true" angle="radian" coordinate="local" />
<option timestep="0.01" gravity="0 0 0" iterations="20" integrator="Euler" />
<default>
<joint armature='0.04' damping="1" limited="true"/>
<geom friction=".8 .1 .1" density="300" margin="0.002" con... |
XML | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/258/258.stl" name="obj0" scale="0.00467211126131 0.... |
XML | <!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applica... |
XML | <mujoco>
<include file="../scene/basic_scene.xml"/>
<include file="../objects/assets/doorlock_dependencies.xml"/>
<include file="../objects/assets/xyz_base_dependencies.xml"/>
<worldbody>
<include file="../objects/assets/xyz_base.xml"/>
<body name="door" pos="0 0.9 0.15">
<include file="../objec... |
XML | <mujoco model="milk">
<asset>
<mesh file="meshes/milk.stl" name="milk_mesh" scale="0.9 0.9 0.9"/>
<texture file="../textures/ceramic.png" name="tex-ceramic"/>
<material name="ceramic" reflectance="0.5" texrepeat="1 1" texture="tex-ceramic" texuniform="true"/>
</asset>
<worldbody>
<body>
<bod... |
XML | <?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="disable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
... |
XML | <mujoco model="inverted pendulum">
<compiler inertiafromgeom="true"/>
<default>
<joint armature="0" damping="1" limited="true"/>
<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
<tendon/>
<motor ctrlrange="-3 3"/>
</default>
<option gravity="0 0 -9.81" integrator="RK4" timestep="0.02"/>
... |
XML | <?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="enable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
... |
XML | <mujoco model="collisions">
<worldbody>
<body name="box">
<geom name="box" type="box" size="1 1 1"/>
</body>
<body pos="1.2 1.2 0.0">
<!-- collides with box -->
<joint/>
<geom name="sphere_collides" type="sphere" size="1"/>
</body>
<body pos="-0.9 -0.9 0.0">
<!-- coll... |
XML | <mujocoinclude>
<worldbody>
<body name="blabla" pos="0.15 0.15 0.15">
<geom conaffinity="1" contype="1" mass="0" pos="0 0 0" rgba="0.417 0.7203 0.0001 0.1" size="0.15 0.15 0.15" type="box"></geom>
</body>
</worldbody>
</mujocoinclude> |
XML | <?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="enable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
... |
XML | <?xml version="1.0" encoding="utf-8"?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="../stls/fetch" texturedir="../textures"></compiler>
<option timestep="0.002">
<flag warmstart="enable"></flag>
</option>
<include file="shared.xml"></include>
<worldbody>
<geom name="floor0" pos="0.8 0.75 0"... |
XML | <?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="disable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
... |
XML | <mujoco>
<motor name="kuka_joint_1" ctrllimited="true" ctrlrange="-176.0 176.0" joint="kuka_joint_1"/>
<motor name="kuka_joint_2" ctrllimited="true" ctrlrange="-176.0 176.0" joint="kuka_joint_2"/>
<motor name="kuka_joint_3" ctrllimited="true" ctrlrange="-110.0 110.0" joint="kuka_joint_3"/>
<motor name="kuka_joi... |
XML | <?xml version="1.0" encoding="utf-8"?>
<mujoco>
<include file="shared_config.xml"></include>
<worldbody>
<include file="sawyer_xyz_base.xml"></include>
<body name="obj" pos="0 0 0.1">
<joint name="objjoint" type="free" limited='false' damping="0" armature="0" />
<inertial... |
XML | <?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="disable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<defa... |
XML | <!--
# Copyright 2020 (c) Aalto University - All Rights Reserved
# Author: Julius Hietala <julius.hietala@aalto.fi>
#
-->
<mujoco>
<include file="franka_cloth_shared.xml"/>
<equality>
<weld body1="end_effector_body" body2="B8_0" solimp="0.9 0.95 0.001" solref="0.02 1"/>
</equality>
<include file='assets/actuato... |
XML | <?xml version="1.0" encoding="utf-8"?>
<mujoco>
<worldbody>
<body>
<geom type="box" size="0.025 0.025 0.025"></geom>
<joint type="free"></joint>
</body>
</worldbody>
</mujoco>
|
XML | <mujoco>
<visual>
<headlight ambient=".4 .4 .4" diffuse=".8 .8 .8" specular="0.1 0.1 0.1"/>
<map znear=".01"/>
<quality shadowsize="2048"/>
</visual>
</mujoco>
|
XML | <mujoco model="bin">
<!-- =================================================
Copyright 2019 Vikash Kumar
Model :: bin (MuJoCoV2.0)
Author :: Vikash Kumar (vikashplus@gmail.com), Michael Wu (michael50wu@gmail.com)
Details :: https://github.com/vikashplus/furniture_sim
License :: Under Apache... |
XML | <mujoco model="can-visual">
<asset>
<texture file="../textures/white-bricks.png" type="cube" name="brick" />
<material name="BrickWall" texture="brick" specular="1" shininess="0.3" rgba="1 0.3 0.3 1" />
</asset>
<worldbody>
<body>
<body name="object" pos="0 0 0">
<geom material="BrickWal... |
XML | <mujoco model="obj">
<include file="assets/bin_dependencies.xml"/>
<include file="../scene/basic_scene.xml"/>
<worldbody>
<include file="assets/objA.xml"/>
</worldbody>
</mujoco>
|
XML | <mujoco>
<body name="gripper" euler="0 0 0" pos="0 0 0.05">
<inertial pos="0 0 0" mass="0.5"/>
<geom class="collision" type="cylinder" pos="0 0 0.01862" size="0.031 0.01862"/>
<geom class="collision" type="box" pos="0 0 0.042" size="0.02041 0.063 0.00476"/>
<body childclass="fetchGripper" name... |
XML | <?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="disable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
... |
XML | <mujoco model="b_lego_duplo">
<asset>
<mesh file="../meshes/ycb/b_lego_duplo.stl" name="b_lego_duplo_mesh"/>
<texture type="skybox" file="../../textures/blue-wood.png" name="tex-b_lego_duplo"/>
<material name="hidden" reflectance="0.5" texrepeat="5 5" texture="tex-b_lego_duplo" texuniform="true"/>
</ass... |
XML | <mujoco model="Rope">
<!-- Copyright © 2018, Roboti LLC
This file is licensed under the MuJoCo Resource License (the "License").
You may not use this file except in compliance with the License.
You may obtain a copy of the License at
https://www.roboti.us/resourcelicense... |
XML | <?xml version="1.0" encoding="utf-8"?>
<mujoco>
<asset>
<material name="table_mat" specular="0" shininess="0" reflectance="0.5" rgba="0.4 0.8 0.4 1"></material>
</asset>
<worldbody>
<body pos="0.80 0.0 0.76" name="table0">
<geom size="0.896 0.896 0.01" solimp="0.0 0.55 0.001" solref="0.002 1" condim="3" mar... |
XML | <?xml version="1.0" encoding="utf-8"?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="./stls" texturedir="./textures"/>
<option timestep="0.002">
<flag warmstart="enable"/>
</option>
<include file="shared.xml"/>
<worldbody>
<geom name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" c... |
XML | <?xml version="1.0" encoding="utf-8"?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="../stls/fetch" texturedir="../textures"></compiler>
<option timestep="0.002">
<flag warmstart="enable"></flag>
</option>
<include file="shared.xml"></include>
<worldbody>
<geom name="floor0" pos="0.8 0.75 0"... |
XML | <mujoco model="hammerblock">
<include file="assets/hammer_dependencies.xml"/>
<include file="../scene/basic_scene.xml"/>
<worldbody>
<include file="assets/hammerblock.xml"/>
</worldbody>
</mujoco>
|
XML | <mujoco>
<body name="valve" euler="0 0 0" pos="0 0 0">
<joint name="valve_position" axis="0 0 1.0" limited="false" frictionloss=".1"/>
<geom class="visual" type="cylinder" euler="0 0 0" pos="0 0 0.02" size="0.0075 0.02" mass=".05"/>
<geom class="visual" type="capsule" euler="1.57079632679 0... |
XML | <mujoco>
<include file="../scene/basic_scene.xml"/>
<include file="../objects/assets/basketball_dependencies.xml"/>
<include file="../objects/assets/xyz_base_dependencies.xml"/>
<worldbody>
<body name="bsktball" pos="0 0.6 0.03">
<freejoint/>
<include file="../objects/assets/basket... |
XML | <mujoco model="Cloth">
<!-- Copyright © 2018, Roboti LLC
This file is licensed under the MuJoCo Resource License (the "License").
You may not use this file except in compliance with the License.
You may obtain a copy of the License at
https://www.roboti.us/resourcelicens... |
XML | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/842/842.stl" name="obj0" scale="0.0324688212876478 ... |
XML | <mujocoinclude>
<body childclass="peg_block_base">
<geom material="peg_block_red" mesh="block_inner" pos="0 0 0.095"/>
<geom material="peg_block_wood" mesh="block_outer" pos="0 0 0.1"/>
<geom class="peg_block_col" pos="0 0 0.195" size="0.09 0.1 0.005" type="box"/>
<geom class="peg_block... |
XML | <?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="disable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
... |
XML | <mujocoinclude>
<body name="top_link" pos="0 0 0.075">
<geom material="box_wood" mesh="boxtop" pos="0 0 -0.005" type="mesh"/>
<geom material="box_metal" euler="1.57 0 0" mesh="boxhandle" pos="0 0 0.082" type="mesh" name="BoxHandleGeom"/>
<geom class="top_col" pos="0.11 -0.0 -0.008" siz... |
XML | <mujoco model="pendulum">
<include file="./common/visual.xml"/>
<include file="./common/skybox.xml"/>
<include file="./common/materials.xml"/>
<option timestep="0.01" integrator="RK4" tolerance="1e-12">
<flag contact="disable" energy="enable"/>
</option>
<worldbody>
<light name="light" pos="0 0 3"... |
XML | <mujoco>
<default class="main">
<geom size="1 1 1" rgba="1 0 0 1" />
<default class="sub">
<geom rgba="0 1 0 1" />
</default>
</default>
<worldbody>
<geom type="box" />
<body childclass="sub" name="body0">
<geom type="ellipsoid"/>
... |
XML | <mujoco model="block">
<include file="assets/block_dependencies.xml"/>
<include file="../scene/basic_scene.xml"/>
<worldbody>
<body pos="0 0.4 0">
<freejoint/>
<include file="assets/block.xml"/>
</body>
</worldbody>
</mujoco>
|
XML | <?xml version="1.0"?>
<mujocoinclude>
<compiler inertiafromgeom="auto" inertiagrouprange="4 4" angle="radian"/>
<asset>
<mesh file="../kitchen/meshes/kettle.stl" name="kettle"/>
<mesh file="../kitchen/meshes/kettlehandle.stl" name="kettlehandle"/>
<texture name="T_kettle_metal" type="cube" height="1" wi... |
XML | <!-- Included by `model_with_include.xml` -->
<mujoco>
<compiler meshdir="meshes"/>
<asset>
<mesh name="cube_mesh" file="cube.stl"/>
</asset>
<worldbody>
<geom name="cube" type="mesh" mesh="cube_mesh"/>
</worldbody>
</mujoco>
|
XML | <?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="enable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<def... |
XML | <?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="enable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<def... |
XML | <?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="enable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
... |
XML | <mujocoinclude>
<body childclass="stick_base">
<geom material="stick_blue" mesh="stick"/>
<geom class="stick_col" size="0.05 0.02 0.02" type="box" mass=".02"/>
</body>
</mujocoinclude>
|
XML | <mujoco model="coffeemachine">
<include file="assets/coffeemachine_dependencies.xml"/>
<include file="../scene/basic_scene.xml"/>
<worldbody>
<include file="assets/coffeemachine.xml"/>
</worldbody>
</mujoco>
|
XML | <mujoco>
<mesh name="object_mesh:teapot_vhacd_m_part0" scale="0.005 0.005 0.005" file="objects/teapot/teapot_vhacd_m_part0.stl"/>
<mesh name="object_mesh:teapot_vhacd_m_part1" scale="0.005 0.005 0.005" file="objects/teapot/teapot_vhacd_m_part1.stl"/>
<mesh name="object_mesh:teapot_vhacd_m_part2" scale="0.005 0.005 0... |
XML | <mujoco>
<asset>
<!--grid ground texture definition: type="2d", builtin="checker"-->
<texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512"/>
<!--sky background definition: type="skybox"-->
<texture builtin="gradient" height="... |
XML | <mujoco model="cubic_with_sites">
<worldbody>
<body name="cubic_with_sites" pos="0.5 0.0 0.0" quat="0 0 0 0">
<joint damping="0.01" name="cubic_with_sites:joint" type="free" />
<inertial diaginertia="3 3 3" mass=".1" pos="0 0 0 " />
<geom conaffinity="3" contype="3" density="0" name="c... |
XML | <mujocoinclude>
<body childclass="soccer_base" name="soccer_ball1">
<geom material="soccer_white" mesh="soccer_white"/>
<geom material="soccer_black" mesh="soccer_black"/>
<geom class="soccer_col" type="sphere" size=".026" mass=".02"/>
</body>
</mujocoinclude>
|
XML | <?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="disable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
... |
XML | <mujoco model="LISN_Arm">
<!-- =================================================
Copyright 2021 Yanyan Yuan
Model :: LISNM_Arm (MuJoCoV2.0)
Author :: Yanyan Yuan (yuanyan_hy@zju.edu.cn)
source :: https://github.com/stylite-y/LISM
License :: Under Apache License, Version 2.0 (the "License");
... |
XML | <?xml version="1.0" encoding="utf-8"?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="../stls/fetch" texturedir="../textures"></compiler>
<option timestep="0.002">
<flag warmstart="enable"></flag>
</option>
<include file="shared.xml"></include>
<worldbody>
<geom name="floor0" pos="0.8 0.75 0"... |
XML | <?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="enable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
... |
XML | <?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="disable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
... |
XML | <mujoco model="bread-visual">
<asset>
<mesh file="meshes/bread.stl" name="bread_mesh" scale="0.8 0.8 0.8"/>
</asset>
<worldbody>
<body>
<body name="object">
<geom pos="0 0 0" mesh="bread_mesh" type="mesh" rgba="0.8 0.8 0.8 0.3" conaffinity="0" contype="0" group="1" mass="0.0001"/>
</... |
XML | <mujoco>
<body name="nail_base" euler="0 0 0" pos="0 0 0">
<body name="nail" euler="0 0 0" pos="0 0 .1">
<joint type="slide" name="nail_position" pos="0 0 0" axis="0 0 1.0" limited="true" range="-0.1 0"
frictionloss="50.0"
solimpfriction="1 .9 0.001"/><!-- d... |
XML | <mujoco model="franka_panda v200">
<!-- =================================================
Model :: Franka (MuJoCoV2.0)
Original:: See https://github.com/vikashplus/franka_sim
====================================================== -->
<include file="panda/basic_scene.xml"/>
<include file="panda/assets... |
XML | <!--# Created by Xinchao Song on May 21, 2020.-->
<mujoco>
<default class="beam-y">
<geom type="box" size="9 0.25 0.25" quat="0 1 1 0" density="1160" rgba="1 1 1 0.5"/>
</default>
<default class="beam-z">
<geom type="box" size="0.75 0.25 0.25" quat="1 0 1 0" density="1160" rgba="1 1 1 0.5"/... |
XML | <mujoco model="plate-visual">
<worldbody>
<body>
<body name="object">
<geom pos="0 0 0" size="0.01 0.01 0.016" type="box" conaffinity="0" contype="0" group="1" mass="0.0001" rgba="0.8 0.8 0.8 0.3"/>
<geom pos="0 0 0.016" size="0.06 0.005" type="cylinder" conaffinity="0" contype="0" group="1... |
XML | <?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="enable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
... |
XML | <mujocoinclude>
<body childclass="shelf_base">
<geom material="shelf_wood" mesh="shelf" pos="0 -0.015 0.24"/>
<geom material="shelf_white" mesh="shelf_supports" pos="0 0 0.04"/>
<geom class="shelf_col" pos="-0.11 0 0.32" size="0.01 0.1 0.32" type="box"/>
<geom class="shelf_col" ... |
XML | <!--
A freely movable cube (along X and Z) for testing purposes
-->
<mujoco model="testcube2d">
<compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
<option integrator="RK4" timestep="0.01"/>
<option>
<flag gravity="enable"/>
</option>
<default>
<joint armature="1" damping="10" limi... |
XML | <?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="enable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
... |
XML | <!--
Common textures, colors and materials to be used throughout this suite. Some
materials such as xxx_highlight are activated on occurence of certain events,
for example receiving a positive reward.
-->
<mujoco>
<asset>
<texture name="grid" type="2d" builtin="checker" rgb1=".1 .2 .3" rgb2=".2 .3 .4" width="300"... |
XML | <?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="enable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<def... |
XML | <mujocoinclude model="">
<!-- =================================================
Copyright 2019 Vikash Kumar
Model :: Objects (MuJoCoV2.0)
Author :: Vikash Kumar (vikashplus@gmail.com), Sudeep Dasari (sdasari@andrew.cmu.edu )
Details :: https://github.com/vikashplus/object_sim
License :: Under Apa... |
XML | <!--
Common textures, colors and materials to be used throughout this suite. Some
materials such as xxx_highlight are activated on occurence of certain events,
for example receiving a positive reward.
-->
<mujoco>
<asset>
<texture name="grid" type="2d" builtin="checker" rgb1=".1 .2 .3" rgb2=".2 .3 .4" width="300"... |
XML | <mujoco model="inverted pendulum">
<compiler inertiafromgeom="true"/>
<default>
<joint armature="0" damping="1" limited="true"/>
<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
<tendon/>
<motor ctrlrange="-3 3"/>
</default>
<option gravity="0 0 -9.81" integrator="RK4" timestep="0.02"/>
... |
XML | <mujoco>
<body name="red_bin_v1" pos="0.632 0.0 0.0015">
<joint name="red_bin_v1:joint" type="free" damping="0.1"/>
<geom type="mesh" mesh="red_bin_v1" conaffinity="0" contype="0" rgba="0.5 0.1 0.1 1"/>
<geom pos="0 0 0.009" type="box" size="0.115 0.07 0.01" rgba="1 1 1 0"/>
<geom pos="0 0.07 0.075" t... |
XML | <mujocoinclude>
<body childclass="bin_base" name="binA">
<geom material="bin_red" mesh="bin" pos="0 0 0.03"/>
<geom class="bin_col" pos="0 -0.095 0.03" size="0.1 0.005 0.03" type="box" mass=".05"/>
<geom class="bin_col" pos="0 0.095 0.03" size="0.1 0.005 0.03" type="box" mass=".05"/>
... |
XML | <mujocoinclude model="apple">
<geom name="apple_visual" mesh="apple"/>
<geom name="apple_contact0" mesh="contact0" class="object_col"/>
<geom name="apple_contact1" mesh="contact1" class="object_col"/>
</mujocoinclude> |
XML | <mujoco model="Textured cube and mesh">
<compiler meshdir="meshes" texturedir="textures"/>
<asset>
<mesh name="cube" file="cube.stl"/>
<mesh name="another_cube" file="more_meshes/cube.stl"/>
<mesh name="unused_asset_should_not_cause_problems" file="cube.stl"/>
<texture name="texture" file="deepmind.... |
XML | <?xml version="1.0" encoding="utf-8"?>
<mujoco>
<include file="shared_config.xml"></include>
<worldbody>
<include file="sawyer_wsg_base.xml"></include>
<site name="hand-goal-site" pos="0 0 0" size="0.05"
rgba="1 0.5 0.5 0.5"/>
<light name="light0" mode="fixed" directional="false" active="true" casts... |
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