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libero/libero/assets/scenes/libero_kitchen_tabletop_reflection_style.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,84 @@ | ||
| <mujoco model="table_arena"> | ||
| <asset> | ||
| <texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256"/> | ||
| <texture file="../textures/tile_grigia_caldera_porcelain_floor.png" type="2d" name="texplane"/> | ||
|
|
||
| <material name="floorplane" reflectance="0.0" shininess="0.0" | ||
| specular="0.0" texrepeat="3 3" texture="texplane" texuniform="true"/> | ||
| <!-- ceramic table texture and material--> | ||
| <texture file="../textures/martin_novak_wood_table.png" type="cube" name="tex-table"/> | ||
| <material name="table_texture" reflectance="0.0" shininess="0.0" specular="0.2" texrepeat="1 1" texture="tex-table" /> | ||
| <!-- steel legs --> | ||
| <texture file="../textures/martin_novak_wood_table.png" type="cube" name="tex-table-legs"/> | ||
| <material name="table_legs" reflectance="0.8" shininess="0.8" texrepeat="1 1" texture="tex-table-legs" /> | ||
| <!-- plaster walls --> | ||
| <texture file="../textures/smooth_light_gray_plaster.png" type="2d" name="tex-wall"/> | ||
|
|
||
| <material name="walls_mat" reflectance="0.0" shininess="0.3" specular="0.8" texrepeat="3 3" texture="tex-wall" texuniform="true" /> | ||
| <!-- added table texture and material for domain randomization --> | ||
| <texture name="textable" builtin="flat" height="512" width="512" rgb1="0.8 0.8 0.8" rgb2="0.8 0.8 0.8"/> | ||
| <material name="table_mat" texture="textable" /> | ||
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| <texture file="kitchen_background/kitchen_background.png" name="tex-kitchen_background" type="2d"/> | ||
| <material name="kitchen_background" reflectance="0.5" texrepeat="1 1" texture="tex-kitchen_background" texuniform="false"/> | ||
| <mesh file="kitchen_background/visual/kitchen_background_vis.msh" name="kitchen_background_vis" scale="0.01 0.01 0.01"/> | ||
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| <texture file="kitchen_background_pot/kitchen_background_pot.png" name="tex-kitchen_background_pot" type="2d"/> | ||
| <material name="kitchen_background_pot" reflectance="0.5" texrepeat="1 1" texture="tex-kitchen_background_pot" texuniform="false"/> | ||
| <mesh file="kitchen_background_pot/visual/kitchen_background_pot_vis.msh" name="kitchen_background_pot_vis" scale="0.01 0.01 0.01"/> | ||
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| <material name="kitchen_background_hot_pot" reflectance="0.5" rgba="0.4 0.4 0.4 1.0" /> | ||
| <mesh file="kitchen_background_hot_pot/visual/kitchen_background_hot_pot_vis.msh" name="kitchen_background_hot_pot_vis" scale="0.01 0.01 0.01"/> | ||
|
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||
| <texture file="kitchen_background_stove/kitchen_background_stove.png" name="tex-kitchen_background_stove" type="2d"/> | ||
| <material name="kitchen_background_stove" reflectance="0.5" texrepeat="1 1" texture="tex-kitchen_background_stove" texuniform="false"/> | ||
| <mesh file="kitchen_background_stove/visual/kitchen_background_stove_vis.msh" name="kitchen_background_stove_vis" scale="0.01 0.01 0.01"/> | ||
|
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| <texture file="fridge/metal.png" name="tex-kitchen_background_fridge" type="2d"/> | ||
| <material name="kitchen_background_fridge" reflectance="0.9" texrepeat="1 1" texture="tex-kitchen_background_fridge" texuniform="false"/> | ||
| <mesh file="fridge/visual/fridge_vis.msh" name="kitchen_background_fridge_vis" scale="0.01 0.01 0.01"/> | ||
|
|
||
| </asset> | ||
| <worldbody> | ||
| <!-- Floor --> | ||
| <geom condim="3" group="1" material="floorplane" name="floor" pos="0 0 0" size="3 3 .125" type="plane"/> | ||
| <geom pos="-1.65 0.0 0.90" quat="0 0 0 1" type="mesh" mesh="kitchen_background_stove_vis" conaffinity="0" contype="0" group="1" material="kitchen_background_stove"/> | ||
| <geom pos="-1.50 0.23 0.93" quat="0.30 0 0 0.90" type="mesh" mesh="kitchen_background_hot_pot_vis" conaffinity="0" contype="0" group="1" material="kitchen_background_hot_pot"/> | ||
| <geom pos="-1.85 -0.85 0.90" quat="0 0 0 1" type="mesh" mesh="kitchen_background_pot_vis" conaffinity="0" contype="0" group="1" material="kitchen_background_pot"/> | ||
| <geom pos="-1.75 -2.4 0" quat="0 0 0 1" type="mesh" mesh="kitchen_background_fridge_vis" conaffinity="0" contype="0" group="1" material="kitchen_background_fridge"/> | ||
| <geom pos="-1.65 0.0 0.0" quat="0 0 0 1" type="mesh" mesh="kitchen_background_vis" conaffinity="0" contype="0" group="1" material="kitchen_background"/> | ||
|
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||
| <light name="light_kitchen" diffuse=".8 .8 .8" dir="0 0 -1" directional="true" pos="-1.75 0 1.6" specular="0.8 0.8 0.8" castshadow="false"/> | ||
|
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||
| <!-- <geom pos="-1.25 2.25 1.5" quat="0.6532815 0.6532815 0.2705981 0.2705981" size="1.06 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_leftcorner_visual" material="walls_mat"/> | ||
| <geom pos="-1.25 -2.25 1.5" quat="0.6532815 0.6532815 -0.2705981 -0.2705981" size="1.06 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_rightcorner_visual" material="walls_mat"/> --> | ||
| <geom pos="0.5 3 1.5" quat="0.7071 0.7071 0 0" size="2.5 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_left_visual" material="walls_mat"/> | ||
| <geom pos="0.5 -3 1.5" quat="0.7071 -0.7071 0 0" size="2.5 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_right_visual" material="walls_mat"/> | ||
| <geom pos="-2 0 1.5" quat="0.5 0.5 0.5 0.5" size="3 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_rear_visual" material="walls_mat"/> | ||
| <geom pos="3 0 1.5" quat="0.5 0.5 -0.5 -0.5" size="3 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_front_visual" material="walls_mat"/> | ||
| <!-- Table body --> | ||
| <body name="table" pos="0 0 0.4"> | ||
| <geom pos="0 0 0" size="0.4 0.4 0.4" type="box" group="0" name="table_collision" friction="1 0.005 0.0001"/> | ||
| <geom pos="0 0 0" size="0.4 0.4 0.4" type="box" conaffinity="0" contype="0" group="1" name="table_visual" material="table_texture"/> | ||
| <site pos="0 0 0.4" name="table_top" size="0.001 0.001 0.001" rgba="0 0 0 0"/> | ||
| <!-- Legs (visual only) --> | ||
| <geom pos="0 0 0" size="0.05 0.1" type="cylinder" conaffinity="0" contype="0" group="1" name="table_leg1_visual" material="table_legs"/> | ||
| <geom pos="0 0 0" size="0.05 0.1" type="cylinder" conaffinity="0" contype="0" group="1" name="table_leg2_visual" material="table_legs"/> | ||
| <geom pos="0 0 0" size="0.05 0.1" type="cylinder" conaffinity="0" contype="0" group="1" name="table_leg3_visual" material="table_legs"/> | ||
| <geom pos="0 0 0" size="0.05 0.1" type="cylinder" conaffinity="0" contype="0" group="1" name="table_leg4_visual" material="table_legs"/> | ||
| </body> | ||
|
|
||
| <light name="light1" diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="1 1 4.0" specular="0.3 0.3 0.3" castshadow="True"/> | ||
| <light name="light2" diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="-3. -3. 4.0" specular="0.3 0.3 0.3" castshadow="True"/> | ||
|
|
||
| <!-- front view --> | ||
| <camera mode="fixed" name="frontview" pos="1.0 0 1.45" quat="0.56 0.43 0.43 0.56"/> | ||
| <!-- bird view --> | ||
| <camera mode="fixed" name="birdview" pos="-0.2 0 3.0" quat="0.7071 0 0 0.7071"/> | ||
| <!-- agent view --> | ||
| <camera mode="fixed" name="agentview" pos="0.5 0 1.35" quat="0.653 0.271 0.271 0.653"/> | ||
|
|
||
| <!-- side view --> | ||
| <camera mode="fixed" name="sideview" pos="-0.05651774593317116 1.2761224129427358 1.4879572214102434" quat="0.009905065491771751 0.006877963156909582 0.5912228352893879 0.806418094001364" /> | ||
| </worldbody> | ||
| </mujoco> |
74 changes: 74 additions & 0 deletions
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libero/libero/assets/scenes/libero_living_room_tabletop_reflection_style.xml
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,74 @@ | ||
| <mujoco model="living_room_arena"> | ||
| <asset> | ||
| <texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256"/> | ||
| <texture file="../textures/tile_grigia_caldera_porcelain_floor.png" type="2d" name="texplane"/> | ||
| <material name="floorplane" reflectance="0.0" shininess="0.0" | ||
| specular="0.0" texrepeat="3 3" texture="texplane" texuniform="true"/> | ||
| <!-- ceramic table texture and material--> | ||
| <texture file="../textures/seamless_wood_planks_floor.png" type="cube" name="tex-table"/> | ||
| <material name="table_texture" reflectance="0.0" shininess="0.0" specular="0.2" texrepeat="1 1" texture="tex-table" /> | ||
| <!-- steel legs --> | ||
| <texture file="../textures/seamless_wood_planks_floor.png" type="cube" name="tex-table-legs"/> | ||
| <material name="table_legs" reflectance="0.8" shininess="0.8" texrepeat="1 1" texture="tex-table-legs" /> | ||
| <!-- plaster walls --> | ||
| <texture file="../textures/smooth_light_gray_plaster.png" type="2d" name="tex-wall"/> | ||
|
|
||
| <material name="walls_mat" reflectance="0.0" shininess="0.2" specular="0.9" texrepeat="3 3" texture="tex-wall" texuniform="true" /> | ||
| <!-- added table texture and material for domain randomization --> | ||
| <texture name="textable" builtin="flat" height="512" width="512" rgb1="0.5 0.5 0.5" rgb2="0.5 0.5 0.5"/> | ||
| <material name="table_mat" texture="textable" /> | ||
|
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||
| <texture file="living_room_table/living_room_table_texture.png" name="tex-living_room_table" type="2d"/> | ||
| <material name="living_room_table" reflectance="0.5" texrepeat="1 1" texture="tex-living_room_table" texuniform="false"/> | ||
| <mesh file="living_room_table/visual/living_room_table_vis.msh" name="living_room_table_vis" scale="1.5 1.5 1.5"/> | ||
|
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| <texture file="wall_decoration/wall_decoration_texture.png" name="tex-wall_decoration" type="2d"/> | ||
| <material name="wall_decoration" reflectance="0.5" texrepeat="1 1" texture="tex-wall_decoration" texuniform="false"/> | ||
| <mesh file="wall_decoration/visual/wall_decoration_vis.msh" name="wall_decoration_vis" scale="0.4 0.1 0.4"/> | ||
|
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||
| <texture file="living_room/living_room_wall_unit.png" name="tex-living_room" type="2d"/> | ||
| <material name="living_room" reflectance="0.5" texrepeat="1 1" texture="tex-living_room" texuniform="false"/> | ||
| <mesh file="living_room/visual/living_room_vis.msh" name="living_room_vis" scale="0.7 0.7 0.7"/> | ||
|
|
||
| </asset> | ||
| <worldbody> | ||
| <!-- Floor --> | ||
| <body name="floor" pos="0 0 0"> | ||
| <geom condim="3" group="1" material="floorplane" name="floor" pos="0 0 0" size="3 3 .125" type="plane"/> | ||
| </body> | ||
|
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||
| <body name="living_room_table" pos="0 0 0" quat="1 0.0 0.0 0.0"> | ||
| <body name="living_room_table_col" pos="-0.25 0.25 0" quat="0.707 0.0 0.0 0.707"> | ||
| <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="living_room_table_vis" conaffinity="0" contype="0" group="1" material="living_room_table"/> | ||
| <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.19761 0.00000 0.42492" quat="0.70711 0.00000 0.70711 0.00000" size="0.01184 0.44432 0.67171" group="0" rgba="0.8 0.8 0.8 0.3"/> | ||
| <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.54936 -0.00000 0.42492" quat="0.50000 0.50000 0.50000 -0.50000" size="0.01184 0.10133 0.41675" group="0" rgba="0.8 0.8 0.8 0.3"/> | ||
| <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.97006 0.00000 0.42492" quat="0.50000 -0.50000 -0.50000 -0.50000" size="0.01184 0.10133 0.41675" group="0" rgba="0.8 0.8 0.8 0.3"/> | ||
| <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.19761 -0.51121 0.42492" quat="0.70711 0.00000 0.70711 0.00000" size="0.01184 0.07752 0.67171" group="0" rgba="0.8 0.8 0.8 0.3"/> | ||
| <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.19761 0.49665 0.42492" quat="0.70711 0.00000 0.70711 0.00000" size="0.01184 0.07752 0.67171" group="0" rgba="0.8 0.8 0.8 0.3"/> | ||
| <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00000 0.20414" quat="0.70711 -0.00000 -0.70711 -0.00000" size="0.20884 0.41162 0.43516" group="0" rgba="0.8 0.8 0.8 0.3"/> | ||
| </body> | ||
| </body> | ||
| <geom pos="-1.95 0.60 1.5" quat="0.7071068 0 0 -0.7071068" type="mesh" mesh="wall_decoration_vis" conaffinity="0" contype="0" group="1" name="wall_decoration" material="wall_decoration"/> | ||
| <geom pos="-1.7 0.0 0" quat="0 0 0 1" type="mesh" mesh="living_room_vis" conaffinity="0" contype="0" group="1" name="living_room" material="living_room"/> | ||
|
|
||
| <geom pos="-1.25 2.25 1.5" quat="0.6532815 0.6532815 0.2705981 0.2705981" size="1.06 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_leftcorner_visual" material="walls_mat"/> | ||
| <geom pos="-1.25 -2.25 1.5" quat="0.6532815 0.6532815 -0.2705981 -0.2705981" size="1.06 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_rightcorner_visual" material="walls_mat"/> | ||
| <geom pos="1.25 3 1.5" quat="0.7071 0.7071 0 0" size="1.75 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_left_visual" material="walls_mat"/> | ||
| <geom pos="1.25 -3 1.5" quat="0.7071 -0.7071 0 0" size="1.75 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_right_visual" material="walls_mat"/> | ||
| <geom pos="-2 0 1.5" quat="0.5 0.5 0.5 0.5" size="1.5 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_rear_visual" material="walls_mat"/> | ||
| <geom pos="3 0 1.5" quat="0.5 0.5 -0.5 -0.5" size="3 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_front_visual" material="walls_mat"/> | ||
| <!-- Table body --> | ||
| <light name="light1" diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="1 1 4.0" specular="0.3 0.3 0.3" castshadow="True"/> | ||
| <light name="light2" diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="-3. -3. 4.0" specular="0.3 0.3 0.3" castshadow="True"/> | ||
|
|
||
| <!-- front view --> | ||
| <camera mode="fixed" name="frontview" pos="1.0 0 1.45" quat="0.56 0.43 0.43 0.56"/> | ||
| <!-- bird view --> | ||
| <camera mode="fixed" name="birdview" pos="-0.2 0 3.0" quat="0.7071 0 0 0.7071"/> | ||
| <!-- agent view --> | ||
| <camera mode="fixed" name="agentview" pos="0.5 0 1.35" quat="0.653 0.271 0.271 0.653"/> | ||
|
|
||
| <!-- side view --> | ||
| <camera mode="fixed" name="sideview" pos="-0.05651774593317116 1.2761224129427358 1.4879572214102434" quat="0.009905065491771751 0.006877963156909582 0.5912228352893879 0.806418094001364" /> | ||
| </worldbody> | ||
| </mujoco> |
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