dartpy 7.0.0.dev0__cp313-cp313-manylinux_2_39_x86_64.whl

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  1. dartpy-7.0.0.dev0.dist-info/METADATA +86 -0
  2. dartpy-7.0.0.dev0.dist-info/RECORD +994 -0
  3. dartpy-7.0.0.dev0.dist-info/WHEEL +5 -0
  4. dartpy-7.0.0.dev0.dist-info/licenses/LICENSE +31 -0
  5. dartpy.cpython-313-x86_64-linux-gnu.so +0 -0
  6. dartpy.libs/libBulletCollision-f96eb02c.so.3.25 +0 -0
  7. dartpy.libs/libBulletDynamics-3cff1f18.so.3.25 +0 -0
  8. dartpy.libs/libBulletSoftBody-220f01bd.so.3.25 +0 -0
  9. dartpy.libs/libLinearMath-71568d02.so.3.25 +0 -0
  10. dartpy.libs/libOpenThreads-8bc434db.so.3.3.1 +0 -0
  11. dartpy.libs/libSDL2-2-3db87ac0.0.so.0.3200.56 +0 -0
  12. dartpy.libs/libassimp-44cf3e77.so.5.4.3 +0 -0
  13. dartpy.libs/libccd-4f119cf4.so.2.0 +0 -0
  14. dartpy.libs/libconsole_bridge-f26e11cc.so.1.0 +0 -0
  15. dartpy.libs/libfcl-0400fc28.so.0.7.0 +0 -0
  16. dartpy.libs/libfmt-277170bf.so.11.2.0 +0 -0
  17. dartpy.libs/libfontconfig-582da43c.so.1.14.0 +0 -0
  18. dartpy.libs/libfreetype-64806fc6.so.6.20.4 +0 -0
  19. dartpy.libs/libglfw-6f066845.so.3.4 +0 -0
  20. dartpy.libs/libimgui-ab87b07d.so +0 -0
  21. dartpy.libs/libnlopt-d1ae937b.so.1.0.0 +0 -0
  22. dartpy.libs/liboctomap-38e56f99.so.1.10.0 +0 -0
  23. dartpy.libs/liboctomath-bff26442.so.1.10.0 +0 -0
  24. dartpy.libs/libode-99b67f5b.so.8.2.0 +0 -0
  25. dartpy.libs/libosg-e67375e5.so.3.6.5 +0 -0
  26. dartpy.libs/libosgDB-bcdb6be9.so.3.6.5 +0 -0
  27. dartpy.libs/libosgGA-6af4078b.so.3.6.5 +0 -0
  28. dartpy.libs/libosgManipulator-3270f659.so.3.6.5 +0 -0
  29. dartpy.libs/libosgShadow-127a8d77.so.3.6.5 +0 -0
  30. dartpy.libs/libosgText-87d82d87.so.3.6.5 +0 -0
  31. dartpy.libs/libosgUtil-55896958.so.3.6.5 +0 -0
  32. dartpy.libs/libosgViewer-76d832e3.so.3.6.5 +0 -0
  33. dartpy.libs/libpng16-bd65464e.so.16.50.0 +0 -0
  34. dartpy.libs/libtinyxml2-8d10763c.so.11.0.0 +0 -0
  35. dartpy.libs/liburdfdom_model-7b26ae88.so.4.0 +0 -0
  36. dartpy.libs/liburdfdom_model_state-95a5ad6e.so.4.0 +0 -0
  37. dartpy.libs/liburdfdom_sensor-55a145ea.so.4.0 +0 -0
  38. dartpy.libs/liburdfdom_world-a32c7194.so.4.0 +0 -0
  39. dartpy.libs/libvulkan-08e1e162.so.1.4.328 +0 -0
  40. include/dart/collision/CollisionDetector.hpp +305 -0
  41. include/dart/collision/CollisionFilter.hpp +126 -0
  42. include/dart/collision/CollisionGroup.hpp +546 -0
  43. include/dart/collision/CollisionObject.hpp +90 -0
  44. include/dart/collision/CollisionOption.hpp +71 -0
  45. include/dart/collision/CollisionResult.hpp +109 -0
  46. include/dart/collision/Contact.hpp +103 -0
  47. include/dart/collision/DistanceFilter.hpp +66 -0
  48. include/dart/collision/DistanceOption.hpp +80 -0
  49. include/dart/collision/DistanceResult.hpp +123 -0
  50. include/dart/collision/Option.hpp +42 -0
  51. include/dart/collision/RaycastOption.hpp +58 -0
  52. include/dart/collision/RaycastResult.hpp +80 -0
  53. include/dart/collision/Result.hpp +42 -0
  54. include/dart/collision/SmartPointer.hpp +51 -0
  55. include/dart/collision/all.hpp +17 -0
  56. include/dart/collision/bullet/BulletCollisionDetector.hpp +168 -0
  57. include/dart/collision/bullet/BulletCollisionGroup.hpp +98 -0
  58. include/dart/collision/bullet/BulletCollisionObject.hpp +75 -0
  59. include/dart/collision/bullet/BulletCollisionShape.hpp +62 -0
  60. include/dart/collision/bullet/BulletInclude.hpp +47 -0
  61. include/dart/collision/bullet/BulletTypes.hpp +57 -0
  62. include/dart/collision/bullet/all.hpp +8 -0
  63. include/dart/collision/bullet/bullet.hpp +14 -0
  64. include/dart/collision/bullet/detail/BulletCollisionDispatcher.hpp +70 -0
  65. include/dart/collision/bullet/detail/BulletOverlapFilterCallback.hpp +72 -0
  66. include/dart/collision/collision.hpp +14 -0
  67. include/dart/collision/dart/DARTCollide.hpp +106 -0
  68. include/dart/collision/dart/DARTCollisionDetector.hpp +109 -0
  69. include/dart/collision/dart/DARTCollisionGroup.hpp +82 -0
  70. include/dart/collision/dart/DARTCollisionObject.hpp +63 -0
  71. include/dart/collision/dart/all.hpp +6 -0
  72. include/dart/collision/dart/dart.hpp +14 -0
  73. include/dart/collision/detail/CollisionDetector.hpp +66 -0
  74. include/dart/collision/detail/CollisionGroup.hpp +287 -0
  75. include/dart/collision/detail/Contact-impl.hpp +56 -0
  76. include/dart/collision/detail/UnorderedPairs.hpp +153 -0
  77. include/dart/collision/fcl/BackwardCompatibility.hpp +145 -0
  78. include/dart/collision/fcl/CollisionShapes.hpp +374 -0
  79. include/dart/collision/fcl/FCLCollisionDetector.hpp +204 -0
  80. include/dart/collision/fcl/FCLCollisionGroup.hpp +95 -0
  81. include/dart/collision/fcl/FCLCollisionObject.hpp +72 -0
  82. include/dart/collision/fcl/FCLTypes.hpp +62 -0
  83. include/dart/collision/fcl/TriTriIntersectionTest.hpp +17 -0
  84. include/dart/collision/fcl/all.hpp +9 -0
  85. include/dart/collision/fcl/fcl.hpp +14 -0
  86. include/dart/collision/fcl/tri_tri_intersection_test.hpp +332 -0
  87. include/dart/collision/ode/OdeCollisionDetector.hpp +131 -0
  88. include/dart/collision/ode/OdeCollisionGroup.hpp +87 -0
  89. include/dart/collision/ode/OdeCollisionObject.hpp +89 -0
  90. include/dart/collision/ode/OdeTypes.hpp +51 -0
  91. include/dart/collision/ode/all.hpp +6 -0
  92. include/dart/collision/ode/detail/OdeBox.hpp +58 -0
  93. include/dart/collision/ode/detail/OdeCapsule.hpp +58 -0
  94. include/dart/collision/ode/detail/OdeCylinder.hpp +58 -0
  95. include/dart/collision/ode/detail/OdeGeom.hpp +83 -0
  96. include/dart/collision/ode/detail/OdeHeightmap-impl.hpp +170 -0
  97. include/dart/collision/ode/detail/OdeHeightmap.hpp +70 -0
  98. include/dart/collision/ode/detail/OdeMesh.hpp +83 -0
  99. include/dart/collision/ode/detail/OdePlane.hpp +67 -0
  100. include/dart/collision/ode/detail/OdeSphere.hpp +58 -0
  101. include/dart/collision/ode/ode.hpp +14 -0
  102. include/dart/common/Aspect.hpp +215 -0
  103. include/dart/common/AspectWithVersion.hpp +180 -0
  104. include/dart/common/CAllocator.hpp +65 -0
  105. include/dart/common/Castable.hpp +102 -0
  106. include/dart/common/ClassWithVirtualBase.hpp +47 -0
  107. include/dart/common/Cloneable.hpp +327 -0
  108. include/dart/common/Composite.hpp +205 -0
  109. include/dart/common/CompositeJoiner.hpp +160 -0
  110. include/dart/common/Console.hpp +75 -0
  111. include/dart/common/Deprecated.hpp +126 -0
  112. include/dart/common/EmbeddedAspect.hpp +466 -0
  113. include/dart/common/Empty.hpp +55 -0
  114. include/dart/common/Factory.hpp +146 -0
  115. include/dart/common/Filesystem.hpp +112 -0
  116. include/dart/common/FreeListAllocator.hpp +162 -0
  117. include/dart/common/IncludeWindows.hpp +50 -0
  118. include/dart/common/LocalResource.hpp +76 -0
  119. include/dart/common/LocalResourceRetriever.hpp +63 -0
  120. include/dart/common/LockableReference.hpp +166 -0
  121. include/dart/common/Logging.hpp +146 -0
  122. include/dart/common/Macros.hpp +78 -0
  123. include/dart/common/Memory.hpp +215 -0
  124. include/dart/common/MemoryAllocator.hpp +120 -0
  125. include/dart/common/MemoryAllocatorDebugger.hpp +98 -0
  126. include/dart/common/MemoryManager.hpp +189 -0
  127. include/dart/common/Metaprogramming.hpp +68 -0
  128. include/dart/common/NameManager.hpp +184 -0
  129. include/dart/common/Observer.hpp +85 -0
  130. include/dart/common/Optional.hpp +48 -0
  131. include/dart/common/Platform.hpp +92 -0
  132. include/dart/common/PoolAllocator.hpp +141 -0
  133. include/dart/common/Profile.hpp +56 -0
  134. include/dart/common/ProxyAspect.hpp +93 -0
  135. include/dart/common/RequiresAspect.hpp +79 -0
  136. include/dart/common/Resource.hpp +96 -0
  137. include/dart/common/ResourceRetriever.hpp +82 -0
  138. include/dart/common/SharedLibrary.hpp +201 -0
  139. include/dart/common/Signal.hpp +250 -0
  140. include/dart/common/Singleton.hpp +85 -0
  141. include/dart/common/SmartPointer.hpp +63 -0
  142. include/dart/common/SpecializedForAspect.hpp +207 -0
  143. include/dart/common/StlAllocator.hpp +111 -0
  144. include/dart/common/StlHelpers.hpp +61 -0
  145. include/dart/common/Stopwatch.hpp +143 -0
  146. include/dart/common/String.hpp +71 -0
  147. include/dart/common/SubPtr.hpp +17 -0
  148. include/dart/common/Subject.hpp +84 -0
  149. include/dart/common/Timer.hpp +119 -0
  150. include/dart/common/Uri.hpp +229 -0
  151. include/dart/common/VersionCounter.hpp +68 -0
  152. include/dart/common/Virtual.hpp +51 -0
  153. include/dart/common/all.hpp +53 -0
  154. include/dart/common/common.hpp +14 -0
  155. include/dart/common/detail/Aspect.hpp +102 -0
  156. include/dart/common/detail/AspectWithVersion.hpp +455 -0
  157. include/dart/common/detail/Castable-impl.hpp +109 -0
  158. include/dart/common/detail/Cloneable.hpp +638 -0
  159. include/dart/common/detail/Composite.hpp +241 -0
  160. include/dart/common/detail/CompositeData.hpp +393 -0
  161. include/dart/common/detail/CompositeJoiner.hpp +128 -0
  162. include/dart/common/detail/ConnectionBody.hpp +157 -0
  163. include/dart/common/detail/EmbeddedAspect.hpp +487 -0
  164. include/dart/common/detail/Factory-impl.hpp +200 -0
  165. include/dart/common/detail/LockableReference-impl.hpp +156 -0
  166. include/dart/common/detail/Logging-impl.hpp +162 -0
  167. include/dart/common/detail/Memory-impl.hpp +66 -0
  168. include/dart/common/detail/MemoryAllocator-impl.hpp +97 -0
  169. include/dart/common/detail/MemoryAllocatorDebugger-impl.hpp +201 -0
  170. include/dart/common/detail/MemoryManager-impl.hpp +102 -0
  171. include/dart/common/detail/Metaprogramming-impl.hpp +89 -0
  172. include/dart/common/detail/NameManager.hpp +301 -0
  173. include/dart/common/detail/NoOp.hpp +57 -0
  174. include/dart/common/detail/ProxyAspect.hpp +172 -0
  175. include/dart/common/detail/RequiresAspect.hpp +51 -0
  176. include/dart/common/detail/SharedLibraryManager.hpp +106 -0
  177. include/dart/common/detail/Signal.hpp +242 -0
  178. include/dart/common/detail/Singleton-impl.hpp +74 -0
  179. include/dart/common/detail/SpecializedForAspect.hpp +331 -0
  180. include/dart/common/detail/StlAllocator-impl.hpp +108 -0
  181. include/dart/common/detail/Stopwatch-impl.hpp +242 -0
  182. include/dart/common/detail/SubPtr.hpp +17 -0
  183. include/dart/common/detail/TemplateJoinerDispatchMacro.hpp +59 -0
  184. include/dart/common/detail/sub_ptr.hpp +139 -0
  185. include/dart/common/sub_ptr.hpp +103 -0
  186. include/dart/config.hpp +100 -0
  187. include/dart/constraint/BalanceConstraint.hpp +202 -0
  188. include/dart/constraint/BallJointConstraint.hpp +142 -0
  189. include/dart/constraint/BoxedLcpConstraintSolver.hpp +182 -0
  190. include/dart/constraint/BoxedLcpSolver.hpp +101 -0
  191. include/dart/constraint/ConstrainedGroup.hpp +120 -0
  192. include/dart/constraint/ConstraintBase.hpp +141 -0
  193. include/dart/constraint/ConstraintSolver.hpp +325 -0
  194. include/dart/constraint/ContactConstraint.hpp +286 -0
  195. include/dart/constraint/ContactSurface.hpp +191 -0
  196. include/dart/constraint/DantzigBoxedLcpSolver.hpp +71 -0
  197. include/dart/constraint/DantzigLCPSolver.hpp +87 -0
  198. include/dart/constraint/DynamicJointConstraint.hpp +120 -0
  199. include/dart/constraint/JointConstraint.hpp +182 -0
  200. include/dart/constraint/JointCoulombFrictionConstraint.hpp +149 -0
  201. include/dart/constraint/JointLimitConstraint.hpp +185 -0
  202. include/dart/constraint/LCPSolver.hpp +71 -0
  203. include/dart/constraint/MimicMotorConstraint.hpp +164 -0
  204. include/dart/constraint/PGSLCPSolver.hpp +109 -0
  205. include/dart/constraint/PgsBoxedLcpSolver.hpp +106 -0
  206. include/dart/constraint/ServoMotorConstraint.hpp +151 -0
  207. include/dart/constraint/SmartPointer.hpp +69 -0
  208. include/dart/constraint/SoftContactConstraint.hpp +262 -0
  209. include/dart/constraint/WeldJointConstraint.hpp +133 -0
  210. include/dart/constraint/all.hpp +25 -0
  211. include/dart/constraint/constraint.hpp +14 -0
  212. include/dart/constraint/detail/ConstraintSolver-impl.hpp +78 -0
  213. include/dart/dart.hpp +44 -0
  214. include/dart/dynamics/ArrowShape.hpp +121 -0
  215. include/dart/dynamics/AssimpInputResourceAdaptor.hpp +129 -0
  216. include/dart/dynamics/BallJoint.hpp +143 -0
  217. include/dart/dynamics/BodyNode.hpp +1279 -0
  218. include/dart/dynamics/BoxShape.hpp +90 -0
  219. include/dart/dynamics/Branch.hpp +107 -0
  220. include/dart/dynamics/CapsuleShape.hpp +105 -0
  221. include/dart/dynamics/Chain.hpp +142 -0
  222. include/dart/dynamics/CompositeNode.hpp +114 -0
  223. include/dart/dynamics/ConeShape.hpp +107 -0
  224. include/dart/dynamics/CylinderShape.hpp +96 -0
  225. include/dart/dynamics/DegreeOfFreedom.hpp +415 -0
  226. include/dart/dynamics/EllipsoidShape.hpp +115 -0
  227. include/dart/dynamics/EndEffector.hpp +158 -0
  228. include/dart/dynamics/Entity.hpp +258 -0
  229. include/dart/dynamics/EntityNode.hpp +77 -0
  230. include/dart/dynamics/EulerJoint.hpp +174 -0
  231. include/dart/dynamics/FixedFrame.hpp +105 -0
  232. include/dart/dynamics/FixedJacobianNode.hpp +168 -0
  233. include/dart/dynamics/Frame.hpp +388 -0
  234. include/dart/dynamics/FreeJoint.hpp +369 -0
  235. include/dart/dynamics/GenericJoint.hpp +825 -0
  236. include/dart/dynamics/Group.hpp +270 -0
  237. include/dart/dynamics/HeightmapShape.hpp +195 -0
  238. include/dart/dynamics/HierarchicalIK.hpp +419 -0
  239. include/dart/dynamics/IkFast.hpp +277 -0
  240. include/dart/dynamics/Inertia.hpp +176 -0
  241. include/dart/dynamics/InvalidIndex.hpp +46 -0
  242. include/dart/dynamics/InverseKinematics.hpp +1401 -0
  243. include/dart/dynamics/JacobianNode.hpp +312 -0
  244. include/dart/dynamics/Joint.hpp +1128 -0
  245. include/dart/dynamics/LineSegmentShape.hpp +140 -0
  246. include/dart/dynamics/Linkage.hpp +246 -0
  247. include/dart/dynamics/Marker.hpp +126 -0
  248. include/dart/dynamics/MeshShape.hpp +225 -0
  249. include/dart/dynamics/MetaSkeleton.hpp +1034 -0
  250. include/dart/dynamics/MimicDofProperties.hpp +62 -0
  251. include/dart/dynamics/MultiSphereConvexHullShape.hpp +111 -0
  252. include/dart/dynamics/MultiSphereShape.hpp +42 -0
  253. include/dart/dynamics/Node.hpp +273 -0
  254. include/dart/dynamics/NodeManagerJoiner.hpp +190 -0
  255. include/dart/dynamics/PlanarJoint.hpp +161 -0
  256. include/dart/dynamics/PlaneShape.hpp +105 -0
  257. include/dart/dynamics/PointCloudShape.hpp +186 -0
  258. include/dart/dynamics/PointMass.hpp +709 -0
  259. include/dart/dynamics/PrismaticJoint.hpp +120 -0
  260. include/dart/dynamics/PyramidShape.hpp +122 -0
  261. include/dart/dynamics/ReferentialSkeleton.hpp +550 -0
  262. include/dart/dynamics/RevoluteJoint.hpp +120 -0
  263. include/dart/dynamics/ScrewJoint.hpp +126 -0
  264. include/dart/dynamics/Shape.hpp +231 -0
  265. include/dart/dynamics/ShapeFrame.hpp +291 -0
  266. include/dart/dynamics/ShapeNode.hpp +134 -0
  267. include/dart/dynamics/SharedLibraryIkFast.hpp +147 -0
  268. include/dart/dynamics/SimpleFrame.hpp +247 -0
  269. include/dart/dynamics/Skeleton.hpp +1350 -0
  270. include/dart/dynamics/SmartPointer.hpp +185 -0
  271. include/dart/dynamics/SoftBodyNode.hpp +472 -0
  272. include/dart/dynamics/SoftMeshShape.hpp +100 -0
  273. include/dart/dynamics/SpecializedNodeManager.hpp +230 -0
  274. include/dart/dynamics/SphereShape.hpp +89 -0
  275. include/dart/dynamics/TemplatedJacobianNode.hpp +128 -0
  276. include/dart/dynamics/TranslationalJoint.hpp +105 -0
  277. include/dart/dynamics/TranslationalJoint2D.hpp +156 -0
  278. include/dart/dynamics/UniversalJoint.hpp +128 -0
  279. include/dart/dynamics/VoxelGridShape.hpp +171 -0
  280. include/dart/dynamics/WeldJoint.hpp +116 -0
  281. include/dart/dynamics/ZeroDofJoint.hpp +562 -0
  282. include/dart/dynamics/all.hpp +69 -0
  283. include/dart/dynamics/detail/BasicNodeManager.hpp +539 -0
  284. include/dart/dynamics/detail/BodyNode.hpp +344 -0
  285. include/dart/dynamics/detail/BodyNodeAspect.hpp +177 -0
  286. include/dart/dynamics/detail/BodyNodePtr.hpp +351 -0
  287. include/dart/dynamics/detail/CompositeNode.hpp +93 -0
  288. include/dart/dynamics/detail/DegreeOfFreedomPtr.hpp +338 -0
  289. include/dart/dynamics/detail/EndEffectorAspect.hpp +106 -0
  290. include/dart/dynamics/detail/EntityNode.hpp +81 -0
  291. include/dart/dynamics/detail/EntityNodeAspect.hpp +101 -0
  292. include/dart/dynamics/detail/EulerJointAspect.hpp +93 -0
  293. include/dart/dynamics/detail/FixedFrameAspect.hpp +58 -0
  294. include/dart/dynamics/detail/FixedJacobianNode.hpp +55 -0
  295. include/dart/dynamics/detail/GenericJoint.hpp +2471 -0
  296. include/dart/dynamics/detail/GenericJointAspect.hpp +353 -0
  297. include/dart/dynamics/detail/HeightmapShape-impl.hpp +243 -0
  298. include/dart/dynamics/detail/InverseKinematics.hpp +83 -0
  299. include/dart/dynamics/detail/InverseKinematicsPtr.hpp +341 -0
  300. include/dart/dynamics/detail/JointAspect.hpp +161 -0
  301. include/dart/dynamics/detail/JointPtr.hpp +293 -0
  302. include/dart/dynamics/detail/MarkerAspect.hpp +68 -0
  303. include/dart/dynamics/detail/MetaSkeleton-impl.hpp +151 -0
  304. include/dart/dynamics/detail/Node.hpp +532 -0
  305. include/dart/dynamics/detail/NodeManagerJoiner.hpp +184 -0
  306. include/dart/dynamics/detail/NodePtr.hpp +259 -0
  307. include/dart/dynamics/detail/PlanarJointAspect.hpp +136 -0
  308. include/dart/dynamics/detail/PrismaticJointAspect.hpp +85 -0
  309. include/dart/dynamics/detail/RevoluteJointAspect.hpp +86 -0
  310. include/dart/dynamics/detail/ScrewJointAspect.hpp +90 -0
  311. include/dart/dynamics/detail/ShapeFrameAspect.hpp +169 -0
  312. include/dart/dynamics/detail/ShapeNode.hpp +51 -0
  313. include/dart/dynamics/detail/Skeleton.hpp +92 -0
  314. include/dart/dynamics/detail/SkeletonAspect.hpp +181 -0
  315. include/dart/dynamics/detail/SoftBodyNodeAspect.hpp +132 -0
  316. include/dart/dynamics/detail/SpecializedNodeManager.hpp +324 -0
  317. include/dart/dynamics/detail/TemplatedJacobianNode.hpp +294 -0
  318. include/dart/dynamics/detail/TranslationalJoint2DAspect.hpp +140 -0
  319. include/dart/dynamics/detail/UniversalJointAspect.hpp +86 -0
  320. include/dart/dynamics/dynamics.hpp +14 -0
  321. include/dart/dynamics/ikfast.h +345 -0
  322. include/dart/external/convhull_3d/convhull_3d.h +1878 -0
  323. include/dart/external/convhull_3d/safe_convhull_3d.h +53 -0
  324. include/dart/external/odelcpsolver/common.h +418 -0
  325. include/dart/external/odelcpsolver/error.h +62 -0
  326. include/dart/external/odelcpsolver/lcp.h +75 -0
  327. include/dart/external/odelcpsolver/matrix.h +277 -0
  328. include/dart/external/odelcpsolver/misc.h +82 -0
  329. include/dart/external/odelcpsolver/odeconfig.h +110 -0
  330. include/dart/gui/osg/DefaultEventHandler.hpp +237 -0
  331. include/dart/gui/osg/DragAndDrop.hpp +360 -0
  332. include/dart/gui/osg/GridVisual.hpp +218 -0
  333. include/dart/gui/osg/ImGuiHandler.hpp +113 -0
  334. include/dart/gui/osg/ImGuiViewer.hpp +83 -0
  335. include/dart/gui/osg/ImGuiWidget.hpp +91 -0
  336. include/dart/gui/osg/IncludeImGui.hpp +75 -0
  337. include/dart/gui/osg/InteractiveFrame.hpp +170 -0
  338. include/dart/gui/osg/MouseEventHandler.hpp +76 -0
  339. include/dart/gui/osg/RealTimeWorldNode.hpp +126 -0
  340. include/dart/gui/osg/ShapeFrameNode.hpp +117 -0
  341. include/dart/gui/osg/SupportPolygonVisual.hpp +202 -0
  342. include/dart/gui/osg/TrackballManipulator.hpp +97 -0
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  884. share/doc/dart/examples/hardcoded_design/README.md +27 -0
  885. share/doc/dart/examples/hardcoded_design/main.cpp +186 -0
  886. share/doc/dart/examples/heightmap/CMakeLists.txt +19 -0
  887. share/doc/dart/examples/heightmap/README.md +20 -0
  888. share/doc/dart/examples/heightmap/main.cpp +460 -0
  889. share/doc/dart/examples/hello_world/CMakeLists.txt +19 -0
  890. share/doc/dart/examples/hello_world/README.md +20 -0
  891. share/doc/dart/examples/hello_world/main.cpp +114 -0
  892. share/doc/dart/examples/hubo_puppet/CMakeLists.txt +19 -0
  893. share/doc/dart/examples/hubo_puppet/README.md +20 -0
  894. share/doc/dart/examples/hubo_puppet/main.cpp +1464 -0
  895. share/doc/dart/examples/human_joint_limits/CMakeLists.txt +49 -0
  896. share/doc/dart/examples/human_joint_limits/HumanArmJointLimitConstraint.cpp +411 -0
  897. share/doc/dart/examples/human_joint_limits/HumanArmJointLimitConstraint.hpp +182 -0
  898. share/doc/dart/examples/human_joint_limits/HumanLegJointLimitConstraint.cpp +432 -0
  899. share/doc/dart/examples/human_joint_limits/HumanLegJointLimitConstraint.hpp +179 -0
  900. share/doc/dart/examples/human_joint_limits/main.cpp +157 -0
  901. share/doc/dart/examples/hybrid_dynamics/CMakeLists.txt +19 -0
  902. share/doc/dart/examples/hybrid_dynamics/README.md +17 -0
  903. share/doc/dart/examples/hybrid_dynamics/main.cpp +187 -0
  904. share/doc/dart/examples/imgui/CMakeLists.txt +19 -0
  905. share/doc/dart/examples/imgui/README.md +20 -0
  906. share/doc/dart/examples/imgui/main.cpp +289 -0
  907. share/doc/dart/examples/joint_constraints/CMakeLists.txt +19 -0
  908. share/doc/dart/examples/joint_constraints/Controller.cpp +110 -0
  909. share/doc/dart/examples/joint_constraints/Controller.hpp +105 -0
  910. share/doc/dart/examples/joint_constraints/README.md +22 -0
  911. share/doc/dart/examples/joint_constraints/main.cpp +242 -0
  912. share/doc/dart/examples/mixed_chain/CMakeLists.txt +19 -0
  913. share/doc/dart/examples/mixed_chain/README.md +35 -0
  914. share/doc/dart/examples/mixed_chain/main.cpp +188 -0
  915. share/doc/dart/examples/operational_space_control/CMakeLists.txt +19 -0
  916. share/doc/dart/examples/operational_space_control/README.md +20 -0
  917. share/doc/dart/examples/operational_space_control/main.cpp +338 -0
  918. share/doc/dart/examples/point_cloud/CMakeLists.txt +19 -0
  919. share/doc/dart/examples/point_cloud/README.md +20 -0
  920. share/doc/dart/examples/point_cloud/main.cpp +740 -0
  921. share/doc/dart/examples/rerun/CMakeLists.txt +19 -0
  922. share/doc/dart/examples/rigid_chain/CMakeLists.txt +19 -0
  923. share/doc/dart/examples/rigid_chain/README.md +19 -0
  924. share/doc/dart/examples/rigid_chain/main.cpp +110 -0
  925. share/doc/dart/examples/rigid_cubes/CMakeLists.txt +19 -0
  926. share/doc/dart/examples/rigid_cubes/README.md +91 -0
  927. share/doc/dart/examples/rigid_cubes/main.cpp +201 -0
  928. share/doc/dart/examples/rigid_loop/CMakeLists.txt +19 -0
  929. share/doc/dart/examples/rigid_loop/README.md +34 -0
  930. share/doc/dart/examples/rigid_loop/main.cpp +127 -0
  931. share/doc/dart/examples/rigid_shapes/CMakeLists.txt +19 -0
  932. share/doc/dart/examples/rigid_shapes/README.md +19 -0
  933. share/doc/dart/examples/rigid_shapes/main.cpp +250 -0
  934. share/doc/dart/examples/simple_frames/CMakeLists.txt +19 -0
  935. share/doc/dart/examples/simple_frames/README.md +27 -0
  936. share/doc/dart/examples/simple_frames/main.cpp +124 -0
  937. share/doc/dart/examples/simulation_event_handler/CMakeLists.txt +19 -0
  938. share/doc/dart/examples/simulation_event_handler/README.md +189 -0
  939. share/doc/dart/examples/simulation_event_handler/SimulationEventHandler.cpp +572 -0
  940. share/doc/dart/examples/simulation_event_handler/SimulationEventHandler.hpp +211 -0
  941. share/doc/dart/examples/simulation_event_handler/main.cpp +277 -0
  942. share/doc/dart/examples/soft_bodies/CMakeLists.txt +19 -0
  943. share/doc/dart/examples/soft_bodies/README.md +20 -0
  944. share/doc/dart/examples/soft_bodies/main.cpp +219 -0
  945. share/doc/dart/examples/speed_test/CMakeLists.txt +19 -0
  946. share/doc/dart/examples/speed_test/README.md +20 -0
  947. share/doc/dart/examples/speed_test/main.cpp +250 -0
  948. share/doc/dart/examples/tinkertoy/CMakeLists.txt +19 -0
  949. share/doc/dart/examples/tinkertoy/README.md +20 -0
  950. share/doc/dart/examples/tinkertoy/TinkertoyWidget.cpp +208 -0
  951. share/doc/dart/examples/tinkertoy/TinkertoyWidget.hpp +70 -0
  952. share/doc/dart/examples/tinkertoy/TinkertoyWorldNode.cpp +35 -0
  953. share/doc/dart/examples/tinkertoy/TinkertoyWorldNode.hpp +470 -0
  954. share/doc/dart/examples/tinkertoy/main.cpp +186 -0
  955. share/doc/dart/examples/vehicle/CMakeLists.txt +19 -0
  956. share/doc/dart/examples/vehicle/README.md +22 -0
  957. share/doc/dart/examples/vehicle/main.cpp +195 -0
  958. share/doc/dart/examples/wam_ikfast/CMakeLists.txt +22 -0
  959. share/doc/dart/examples/wam_ikfast/Helpers.cpp +148 -0
  960. share/doc/dart/examples/wam_ikfast/Helpers.hpp +46 -0
  961. share/doc/dart/examples/wam_ikfast/InputHandler.cpp +110 -0
  962. share/doc/dart/examples/wam_ikfast/InputHandler.hpp +73 -0
  963. share/doc/dart/examples/wam_ikfast/README.md +20 -0
  964. share/doc/dart/examples/wam_ikfast/WamWorld.cpp +46 -0
  965. share/doc/dart/examples/wam_ikfast/WamWorld.hpp +53 -0
  966. share/doc/dart/examples/wam_ikfast/ikfast/CMakeLists.txt +11 -0
  967. share/doc/dart/examples/wam_ikfast/ikfast/ikfast71.Transform6D.4_6_9_10_11_12_f8.cpp +14930 -0
  968. share/doc/dart/examples/wam_ikfast/osgWamIkFast.cpp +96 -0
  969. share/doc/dart/tutorials/CMakeLists.txt +12 -0
  970. share/doc/dart/tutorials/README.md +45 -0
  971. share/doc/dart/tutorials/tutorial_biped/CMakeLists.txt +19 -0
  972. share/doc/dart/tutorials/tutorial_biped/README +18 -0
  973. share/doc/dart/tutorials/tutorial_biped/main.cpp +374 -0
  974. share/doc/dart/tutorials/tutorial_biped_finished/CMakeLists.txt +19 -0
  975. share/doc/dart/tutorials/tutorial_biped_finished/README +18 -0
  976. share/doc/dart/tutorials/tutorial_biped_finished/main.cpp +532 -0
  977. share/doc/dart/tutorials/tutorial_collisions/CMakeLists.txt +19 -0
  978. share/doc/dart/tutorials/tutorial_collisions/README +18 -0
  979. share/doc/dart/tutorials/tutorial_collisions/main.cpp +506 -0
  980. share/doc/dart/tutorials/tutorial_collisions_finished/CMakeLists.txt +19 -0
  981. share/doc/dart/tutorials/tutorial_collisions_finished/README +18 -0
  982. share/doc/dart/tutorials/tutorial_collisions_finished/main.cpp +679 -0
  983. share/doc/dart/tutorials/tutorial_dominoes/CMakeLists.txt +19 -0
  984. share/doc/dart/tutorials/tutorial_dominoes/README +18 -0
  985. share/doc/dart/tutorials/tutorial_dominoes/main.cpp +394 -0
  986. share/doc/dart/tutorials/tutorial_dominoes_finished/CMakeLists.txt +19 -0
  987. share/doc/dart/tutorials/tutorial_dominoes_finished/README +18 -0
  988. share/doc/dart/tutorials/tutorial_dominoes_finished/main.cpp +559 -0
  989. share/doc/dart/tutorials/tutorial_multi_pendulum/CMakeLists.txt +19 -0
  990. share/doc/dart/tutorials/tutorial_multi_pendulum/README +18 -0
  991. share/doc/dart/tutorials/tutorial_multi_pendulum/main.cpp +443 -0
  992. share/doc/dart/tutorials/tutorial_multi_pendulum_finished/CMakeLists.txt +19 -0
  993. share/doc/dart/tutorials/tutorial_multi_pendulum_finished/README +18 -0
  994. share/doc/dart/tutorials/tutorial_multi_pendulum_finished/main.cpp +512 -0
share/doc/dart/data/mjcf/openai/inverted_pendulum.xml ADDED
@@ -0,0 +1,27 @@
1
+ <mujoco model="inverted pendulum">
2
+ <compiler inertiafromgeom="true"/>
3
+ <default>
4
+ <joint armature="0" damping="1" limited="true"/>
5
+ <geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
6
+ <tendon/>
7
+ <motor ctrlrange="-3 3"/>
8
+ </default>
9
+ <option gravity="0 0 -9.81" integrator="RK4" timestep="0.02"/>
10
+ <size nstack="3000"/>
11
+ <worldbody>
12
+ <!--geom name="ground" type="plane" pos="0 0 0" /-->
13
+ <geom name="rail" pos="0 0 0" quat="0.707 0 0.707 0" rgba="0.3 0.3 0.7 1" size="0.02 1" type="capsule"/>
14
+ <body name="cart" pos="0 0 0">
15
+ <joint axis="1 0 0" limited="true" name="slider" pos="0 0 0" range="-1 1" type="slide"/>
16
+ <geom name="cart" pos="0 0 0" quat="0.707 0 0.707 0" size="0.1 0.1" type="capsule"/>
17
+ <body name="pole" pos="0 0 0">
18
+ <joint axis="0 1 0" name="hinge" pos="0 0 0" range="-90 90" type="hinge"/>
19
+ <geom fromto="0 0 0 0.001 0 0.6" name="cpole" rgba="0 0.7 0.7 1" size="0.049 0.3" type="capsule"/>
20
+ <!-- <body name="pole2" pos="0.001 0 0.6"><joint name="hinge2" type="hinge" pos="0 0 0" axis="0 1 0"/><geom name="cpole2" type="capsule" fromto="0 0 0 0 0 0.6" size="0.05 0.3" rgba="0.7 0 0.7 1"/><site name="tip2" pos="0 0 .6"/></body>-->
21
+ </body>
22
+ </body>
23
+ </worldbody>
24
+ <actuator>
25
+ <motor gear="100" joint="slider" name="slide"/>
26
+ </actuator>
27
+ </mujoco>
share/doc/dart/data/mjcf/openai/point.xml ADDED
@@ -0,0 +1,31 @@
1
+ <mujoco>
2
+ <compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
3
+ <option integrator="RK4" timestep="0.02"/>
4
+ <default>
5
+ <joint armature="0" damping="0" limited="false"/>
6
+ <geom conaffinity="0" condim="3" density="100" friction="1 0.5 0.5" margin="0" rgba="0.8 0.6 0.4 1"/>
7
+ </default>
8
+ <asset>
9
+ <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>
10
+ <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
11
+ <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
12
+ <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="30 30" texture="texplane"/>
13
+ <material name="geom" texture="texgeom" texuniform="true"/>
14
+ </asset>
15
+ <worldbody>
16
+ <light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
17
+ <geom conaffinity="1" condim="3" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane"/>
18
+ <body name="torso" pos="0 0 0">
19
+ <geom name="pointbody" pos="0 0 0.5" size="0.5" type="sphere"/>
20
+ <geom name="pointarrow" pos="0.6 0 0.5" size="0.5 0.1 0.1" type="box"/>
21
+ <joint axis="1 0 0" name="ballx" pos="0 0 0" type="slide"/>
22
+ <joint axis="0 1 0" name="bally" pos="0 0 0" type="slide"/>
23
+ <joint axis="0 0 1" limited="false" name="rot" pos="0 0 0" type="hinge"/>
24
+ </body>
25
+ </worldbody>
26
+ <actuator>
27
+ <!-- Those are just dummy actuators for providing ranges -->
28
+ <motor ctrllimited="true" ctrlrange="-1 1" joint="ballx"/>
29
+ <motor ctrllimited="true" ctrlrange="-0.25 0.25" joint="rot"/>
30
+ </actuator>
31
+ </mujoco>
share/doc/dart/data/mjcf/openai/pusher.xml ADDED
@@ -0,0 +1,91 @@
1
+ <mujoco model="arm3d">
2
+ <compiler inertiafromgeom="true" angle="radian" coordinate="local"/>
3
+ <option timestep="0.01" gravity="0 0 0" iterations="20" integrator="Euler" />
4
+
5
+ <default>
6
+ <joint armature='0.04' damping="1" limited="true"/>
7
+ <geom friction=".8 .1 .1" density="300" margin="0.002" condim="1" contype="0" conaffinity="0"/>
8
+ </default>
9
+
10
+ <worldbody>
11
+ <light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
12
+ <geom name="table" type="plane" pos="0 0.5 -0.325" size="1 1 0.1" contype="1" conaffinity="1"/>
13
+
14
+ <body name="r_shoulder_pan_link" pos="0 -0.6 0">
15
+ <geom name="e1" type="sphere" rgba="0.6 0.6 0.6 1" pos="-0.06 0.05 0.2" size="0.05" />
16
+ <geom name="e2" type="sphere" rgba="0.6 0.6 0.6 1" pos=" 0.06 0.05 0.2" size="0.05" />
17
+ <geom name="e1p" type="sphere" rgba="0.1 0.1 0.1 1" pos="-0.06 0.09 0.2" size="0.03" />
18
+ <geom name="e2p" type="sphere" rgba="0.1 0.1 0.1 1" pos=" 0.06 0.09 0.2" size="0.03" />
19
+ <geom name="sp" type="capsule" fromto="0 0 -0.4 0 0 0.2" size="0.1" />
20
+ <joint name="r_shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-2.2854 1.714602" damping="1.0" />
21
+
22
+ <body name="r_shoulder_lift_link" pos="0.1 0 0">
23
+ <geom name="sl" type="capsule" fromto="0 -0.1 0 0 0.1 0" size="0.1" />
24
+ <joint name="r_shoulder_lift_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.5236 1.3963" damping="1.0" />
25
+
26
+ <body name="r_upper_arm_roll_link" pos="0 0 0">
27
+ <geom name="uar" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" />
28
+ <joint name="r_upper_arm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.5 1.7" damping="0.1" />
29
+
30
+ <body name="r_upper_arm_link" pos="0 0 0">
31
+ <geom name="ua" type="capsule" fromto="0 0 0 0.4 0 0" size="0.06" />
32
+
33
+ <body name="r_elbow_flex_link" pos="0.4 0 0">
34
+ <geom name="ef" type="capsule" fromto="0 -0.02 0 0.0 0.02 0" size="0.06" />
35
+ <joint name="r_elbow_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-2.3213 0" damping="0.1" />
36
+
37
+ <body name="r_forearm_roll_link" pos="0 0 0">
38
+ <geom name="fr" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" />
39
+ <joint name="r_forearm_roll_joint" type="hinge" limited="true" pos="0 0 0" axis="1 0 0" damping=".1" range="-1.5 1.5"/>
40
+
41
+ <body name="r_forearm_link" pos="0 0 0">
42
+ <geom name="fa" type="capsule" fromto="0 0 0 0.291 0 0" size="0.05" />
43
+
44
+ <body name="r_wrist_flex_link" pos="0.321 0 0">
45
+ <geom name="wf" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.01" />
46
+ <joint name="r_wrist_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-1.094 0" damping=".1" />
47
+
48
+ <body name="r_wrist_roll_link" pos="0 0 0">
49
+ <joint name="r_wrist_roll_joint" type="hinge" pos="0 0 0" limited="true" axis="1 0 0" damping="0.1" range="-1.5 1.5"/>
50
+ <body name="tips_arm" pos="0 0 0">
51
+ <geom name="tip_arml" type="sphere" pos="0.1 -0.1 0." size="0.01" />
52
+ <geom name="tip_armr" type="sphere" pos="0.1 0.1 0." size="0.01" />
53
+ </body>
54
+ <geom type="capsule" fromto="0 -0.1 0. 0.0 +0.1 0" size="0.02" contype="1" conaffinity="1" />
55
+ <geom type="capsule" fromto="0 -0.1 0. 0.1 -0.1 0" size="0.02" contype="1" conaffinity="1" />
56
+ <geom type="capsule" fromto="0 +0.1 0. 0.1 +0.1 0." size="0.02" contype="1" conaffinity="1" />
57
+ </body>
58
+ </body>
59
+ </body>
60
+ </body>
61
+ </body>
62
+ </body>
63
+ </body>
64
+ </body>
65
+ </body>
66
+
67
+ <!--<body name="object" pos="0.55 -0.3 -0.275" >-->
68
+ <body name="object" pos="0.45 -0.05 -0.275" >
69
+ <geom rgba="1 1 1 0" type="sphere" size="0.05 0.05 0.05" density="0.00001" conaffinity="0"/>
70
+ <geom rgba="1 1 1 1" type="cylinder" size="0.05 0.05 0.05" density="0.00001" contype="1" conaffinity="0"/>
71
+ <joint name="obj_slidey" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0.5"/>
72
+ <joint name="obj_slidex" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0.5"/>
73
+ </body>
74
+
75
+ <body name="goal" pos="0.45 -0.05 -0.3230">
76
+ <geom rgba="1 0 0 1" type="cylinder" size="0.08 0.001 0.1" density='0.00001' contype="0" conaffinity="0"/>
77
+ <joint name="goal_slidey" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0.5"/>
78
+ <joint name="goal_slidex" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0.5"/>
79
+ </body>
80
+ </worldbody>
81
+
82
+ <actuator>
83
+ <motor joint="r_shoulder_pan_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
84
+ <motor joint="r_shoulder_lift_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
85
+ <motor joint="r_upper_arm_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
86
+ <motor joint="r_elbow_flex_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
87
+ <motor joint="r_forearm_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
88
+ <motor joint="r_wrist_flex_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
89
+ <motor joint="r_wrist_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true"/>
90
+ </actuator>
91
+ </mujoco>
share/doc/dart/data/mjcf/openai/reacher.xml ADDED
@@ -0,0 +1,39 @@
1
+ <mujoco model="reacher">
2
+ <compiler angle="radian" inertiafromgeom="true"/>
3
+ <default>
4
+ <joint armature="1" damping="1" limited="true"/>
5
+ <geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
6
+ </default>
7
+ <option gravity="0 0 -9.81" integrator="RK4" timestep="0.01"/>
8
+ <worldbody>
9
+ <!-- Arena -->
10
+ <geom conaffinity="0" contype="0" name="ground" pos="0 0 0" rgba="0.9 0.9 0.9 1" size="1 1 10" type="plane"/>
11
+ <geom conaffinity="0" fromto="-.3 -.3 .01 .3 -.3 .01" name="sideS" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
12
+ <geom conaffinity="0" fromto=" .3 -.3 .01 .3 .3 .01" name="sideE" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
13
+ <geom conaffinity="0" fromto="-.3 .3 .01 .3 .3 .01" name="sideN" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
14
+ <geom conaffinity="0" fromto="-.3 -.3 .01 -.3 .3 .01" name="sideW" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
15
+ <!-- Arm -->
16
+ <geom conaffinity="0" contype="0" fromto="0 0 0 0 0 0.02" name="root" rgba="0.9 0.4 0.6 1" size=".011" type="cylinder"/>
17
+ <body name="body0" pos="0 0 .01">
18
+ <geom fromto="0 0 0 0.1 0 0" name="link0" rgba="0.0 0.4 0.6 1" size=".01" type="capsule"/>
19
+ <joint axis="0 0 1" limited="false" name="joint0" pos="0 0 0" type="hinge"/>
20
+ <body name="body1" pos="0.1 0 0">
21
+ <joint axis="0 0 1" limited="true" name="joint1" pos="0 0 0" range="-3.0 3.0" type="hinge"/>
22
+ <geom fromto="0 0 0 0.1 0 0" name="link1" rgba="0.0 0.4 0.6 1" size=".01" type="capsule"/>
23
+ <body name="fingertip" pos="0.11 0 0">
24
+ <geom contype="0" name="fingertip" pos="0 0 0" rgba="0.0 0.8 0.6 1" size=".01" type="sphere"/>
25
+ </body>
26
+ </body>
27
+ </body>
28
+ <!-- Target -->
29
+ <body name="target" pos=".1 -.1 .01">
30
+ <joint armature="0" axis="1 0 0" damping="0" limited="true" name="target_x" pos="0 0 0" range="-.27 .27" ref=".1" stiffness="0" type="slide"/>
31
+ <joint armature="0" axis="0 1 0" damping="0" limited="true" name="target_y" pos="0 0 0" range="-.27 .27" ref="-.1" stiffness="0" type="slide"/>
32
+ <geom conaffinity="0" contype="0" name="target" pos="0 0 0" rgba="0.9 0.2 0.2 1" size=".009" type="sphere"/>
33
+ </body>
34
+ </worldbody>
35
+ <actuator>
36
+ <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint0"/>
37
+ <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint1"/>
38
+ </actuator>
39
+ </mujoco>
share/doc/dart/data/mjcf/openai/robotics/fetch/pick_and_place.xml ADDED
@@ -0,0 +1,35 @@
1
+ <?xml version="1.0" encoding="utf-8"?>
2
+ <mujoco>
3
+ <compiler angle="radian" coordinate="local" meshdir="../stls/fetch" texturedir="../textures"></compiler>
4
+ <option timestep="0.002">
5
+ <flag warmstart="enable"></flag>
6
+ </option>
7
+
8
+ <include file="shared.xml"></include>
9
+
10
+ <worldbody>
11
+ <geom name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" condim="3" material="floor_mat"></geom>
12
+ <body name="floor0" pos="0.8 0.75 0">
13
+ <site name="target0" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
14
+ </body>
15
+
16
+ <include file="robot.xml"></include>
17
+
18
+ <body pos="1.3 0.75 0.2" name="table0">
19
+ <geom size="0.25 0.35 0.2" type="box" mass="2000" material="table_mat"></geom>
20
+ </body>
21
+
22
+ <body name="object0" pos="0.025 0.025 0.025">
23
+ <joint name="object0:joint" type="free" damping="0.01"></joint>
24
+ <geom size="0.025 0.025 0.025" type="box" condim="3" name="object0" material="block_mat" mass="2"></geom>
25
+ <site name="object0" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
26
+ </body>
27
+
28
+ <light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false" pos="0 0 4" dir="0 0 -1" name="light0"></light>
29
+ </worldbody>
30
+
31
+ <actuator>
32
+ <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1"></position>
33
+ <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1"></position>
34
+ </actuator>
35
+ </mujoco>
share/doc/dart/data/mjcf/openai/robotics/fetch/push.xml ADDED
@@ -0,0 +1,32 @@
1
+ <?xml version="1.0" encoding="utf-8"?>
2
+ <mujoco>
3
+ <compiler angle="radian" coordinate="local" meshdir="../stls/fetch" texturedir="../textures"></compiler>
4
+ <option timestep="0.002">
5
+ <flag warmstart="enable"></flag>
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+ </option>
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+
8
+ <include file="shared.xml"></include>
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+
10
+ <worldbody>
11
+ <geom name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" condim="3" material="floor_mat"></geom>
12
+ <body name="floor0" pos="0.8 0.75 0">
13
+ <site name="target0" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
14
+ </body>
15
+
16
+ <include file="robot.xml"></include>
17
+
18
+ <body pos="1.3 0.75 0.2" name="table0">
19
+ <geom size="0.25 0.35 0.2" type="box" mass="2000" material="table_mat"></geom>
20
+ </body>
21
+
22
+ <body name="object0" pos="0.025 0.025 0.025">
23
+ <joint name="object0:joint" type="free" damping="0.01"></joint>
24
+ <geom size="0.025 0.025 0.025" type="box" condim="3" name="object0" material="block_mat" mass="2"></geom>
25
+ <site name="object0" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
26
+ </body>
27
+
28
+ <light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false" pos="0 0 4" dir="0 0 -1" name="light0"></light>
29
+ </worldbody>
30
+
31
+ <actuator></actuator>
32
+ </mujoco>
share/doc/dart/data/mjcf/openai/robotics/fetch/reach.xml ADDED
@@ -0,0 +1,26 @@
1
+ <?xml version="1.0" encoding="utf-8"?>
2
+ <mujoco>
3
+ <compiler angle="radian" coordinate="local" meshdir="../stls/fetch" texturedir="../textures"></compiler>
4
+ <option timestep="0.002">
5
+ <flag warmstart="enable"></flag>
6
+ </option>
7
+
8
+ <include file="shared.xml"></include>
9
+
10
+ <worldbody>
11
+ <geom name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" condim="3" material="floor_mat"></geom>
12
+ <body name="floor0" pos="0.8 0.75 0">
13
+ <site name="target0" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
14
+ </body>
15
+
16
+ <include file="robot.xml"></include>
17
+
18
+ <body pos="1.3 0.75 0.2" name="table0">
19
+ <geom size="0.25 0.35 0.2" type="box" mass="2000" material="table_mat"></geom>
20
+ </body>
21
+
22
+ <light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false" pos="0 0 4" dir="0 0 -1" name="light0"></light>
23
+ </worldbody>
24
+
25
+ <actuator></actuator>
26
+ </mujoco>
share/doc/dart/data/mjcf/openai/robotics/fetch/robot.xml ADDED
@@ -0,0 +1,123 @@
1
+ <mujoco>
2
+ <body mocap="true" name="robot0:mocap" pos="0 0 0">
3
+ <geom conaffinity="0" contype="0" pos="0 0 0" rgba="0 0.5 0 0.7" size="0.005 0.005 0.005" type="box"></geom>
4
+ <geom conaffinity="0" contype="0" pos="0 0 0" rgba="0 0.5 0 0.1" size="1 0.005 0.005" type="box"></geom>
5
+ <geom conaffinity="0" contype="0" pos="0 0 0" rgba="0 0.5 0 0.1" size="0.005 1 0.001" type="box"></geom>
6
+ <geom conaffinity="0" contype="0" pos="0 0 0" rgba="0 0.5 0 0.1" size="0.005 0.005 1" type="box"></geom>
7
+ </body>
8
+ <body childclass="robot0:fetch" name="robot0:base_link" pos="0.2869 0.2641 0">
9
+ <joint armature="0.0001" axis="1 0 0" damping="1e+11" name="robot0:slide0" pos="0 0 0" type="slide"></joint>
10
+ <joint armature="0.0001" axis="0 1 0" damping="1e+11" name="robot0:slide1" pos="0 0 0" type="slide"></joint>
11
+ <joint armature="0.0001" axis="0 0 1" damping="1e+11" name="robot0:slide2" pos="0 0 0" type="slide"></joint>
12
+ <inertial diaginertia="1.2869 1.2236 0.9868" mass="70.1294" pos="-0.0036 0 0.0014" quat="0.7605 -0.0133 -0.0061 0.6491"></inertial>
13
+ <geom mesh="robot0:base_link" name="robot0:base_link" material="robot0:base_mat" class="robot0:grey"></geom>
14
+ <body name="robot0:torso_lift_link" pos="-0.0869 0 0.3774">
15
+ <inertial diaginertia="0.3365 0.3354 0.0943" mass="10.7796" pos="-0.0013 -0.0009 0.2935" quat="0.9993 -0.0006 0.0336 0.0185"></inertial>
16
+ <joint axis="0 0 1" damping="1e+07" name="robot0:torso_lift_joint" range="0.0386 0.3861" type="slide"></joint>
17
+ <geom mesh="robot0:torso_lift_link" name="robot0:torso_lift_link" material="robot0:torso_mat"></geom>
18
+ <body name="robot0:head_pan_link" pos="0.0531 0 0.603">
19
+ <inertial diaginertia="0.0185 0.0128 0.0095" mass="2.2556" pos="0.0321 0.0161 0.039" quat="0.5148 0.5451 -0.453 0.4823"></inertial>
20
+ <joint axis="0 0 1" name="robot0:head_pan_joint" range="-1.57 1.57"></joint>
21
+ <geom mesh="robot0:head_pan_link" name="robot0:head_pan_link" material="robot0:head_mat" class="robot0:grey"></geom>
22
+ <body name="robot0:head_tilt_link" pos="0.1425 0 0.058">
23
+ <inertial diaginertia="0.0063 0.0059 0.0014" mass="0.9087" pos="0.0081 0.0025 0.0113" quat="0.6458 0.66 -0.274 0.2689"></inertial>
24
+ <joint axis="0 1 0" damping="1000" name="robot0:head_tilt_joint" range="-0.76 1.45" ref="0.06"></joint>
25
+ <geom mesh="robot0:head_tilt_link" name="robot0:head_tilt_link" material="robot0:head_mat" class="robot0:blue"></geom>
26
+ <body name="robot0:head_camera_link" pos="0.055 0 0.0225">
27
+ <inertial diaginertia="0 0 0" mass="0" pos="0.055 0 0.0225"></inertial>
28
+ <body name="robot0:head_camera_rgb_frame" pos="0 0.02 0">
29
+ <inertial diaginertia="0 0 0" mass="0" pos="0 0.02 0"></inertial>
30
+ <body name="robot0:head_camera_rgb_optical_frame" pos="0 0 0" quat="0.5 -0.5 0.5 -0.5">
31
+ <inertial diaginertia="0 0 0" mass="0" pos="0 0 0" quat="0.5 -0.5 0.5 -0.5"></inertial>
32
+ <camera euler="3.1415 0 0" fovy="50" name="head_camera_rgb" pos="0 0 0"></camera>
33
+ </body>
34
+ </body>
35
+ <body name="robot0:head_camera_depth_frame" pos="0 0.045 0">
36
+ <inertial diaginertia="0 0 0" mass="0" pos="0 0.045 0"></inertial>
37
+ <body name="robot0:head_camera_depth_optical_frame" pos="0 0 0" quat="0.5 -0.5 0.5 -0.5">
38
+ <inertial diaginertia="0 0 0" mass="0" pos="0 0 0" quat="0.5 -0.5 0.5 -0.5"></inertial>
39
+ </body>
40
+ </body>
41
+ </body>
42
+ </body>
43
+ </body>
44
+ <body name="robot0:shoulder_pan_link" pos="0.1195 0 0.3486">
45
+ <inertial diaginertia="0.009 0.0086 0.0041" mass="2.5587" pos="0.0927 -0.0056 0.0564" quat="-0.1364 0.7624 -0.1562 0.613"></inertial>
46
+ <joint axis="0 0 1" name="robot0:shoulder_pan_joint" range="-1.6056 1.6056"></joint>
47
+ <geom mesh="robot0:shoulder_pan_link" name="robot0:shoulder_pan_link" material="robot0:arm_mat"></geom>
48
+ <body name="robot0:shoulder_lift_link" pos="0.117 0 0.06">
49
+ <inertial diaginertia="0.0116 0.0112 0.0023" mass="2.6615" pos="0.1432 0.0072 -0.0001" quat="0.4382 0.4382 0.555 0.555"></inertial>
50
+ <joint axis="0 1 0" name="robot0:shoulder_lift_joint" range="-1.221 1.518"></joint>
51
+ <geom mesh="robot0:shoulder_lift_link" name="robot0:shoulder_lift_link" material="robot0:arm_mat" class="robot0:blue"></geom>
52
+ <body name="robot0:upperarm_roll_link" pos="0.219 0 0">
53
+ <inertial diaginertia="0.0047 0.0045 0.0019" mass="2.3311" pos="0.1165 0.0014 0" quat="-0.0136 0.707 0.0136 0.707"></inertial>
54
+ <joint axis="1 0 0" limited="false" name="robot0:upperarm_roll_joint"></joint>
55
+ <geom mesh="robot0:upperarm_roll_link" name="robot0:upperarm_roll_link" material="robot0:arm_mat"></geom>
56
+ <body name="robot0:elbow_flex_link" pos="0.133 0 0">
57
+ <inertial diaginertia="0.0086 0.0084 0.002" mass="2.1299" pos="0.1279 0.0073 0" quat="0.4332 0.4332 0.5589 0.5589"></inertial>
58
+ <joint axis="0 1 0" name="robot0:elbow_flex_joint" range="-2.251 2.251"></joint>
59
+ <geom mesh="robot0:elbow_flex_link" name="robot0:elbow_flex_link" material="robot0:arm_mat" class="robot0:blue"></geom>
60
+ <body name="robot0:forearm_roll_link" pos="0.197 0 0">
61
+ <inertial diaginertia="0.0035 0.0031 0.0015" mass="1.6563" pos="0.1097 -0.0266 0" quat="-0.0715 0.7035 0.0715 0.7035"></inertial>
62
+ <joint armature="2.7538" axis="1 0 0" damping="3.5247" frictionloss="0" limited="false" name="robot0:forearm_roll_joint" stiffness="10"></joint>
63
+ <geom mesh="robot0:forearm_roll_link" name="robot0:forearm_roll_link" material="robot0:arm_mat"></geom>
64
+ <body name="robot0:wrist_flex_link" pos="0.1245 0 0">
65
+ <inertial diaginertia="0.0042 0.0042 0.0018" mass="1.725" pos="0.0882 0.0009 -0.0001" quat="0.4895 0.4895 0.5103 0.5103"></inertial>
66
+ <joint axis="0 1 0" name="robot0:wrist_flex_joint" range="-2.16 2.16"></joint>
67
+ <geom mesh="robot0:wrist_flex_link" name="robot0:wrist_flex_link" material="robot0:arm_mat" class="robot0:blue"></geom>
68
+ <body name="robot0:wrist_roll_link" pos="0.1385 0 0">
69
+ <inertial diaginertia="0.0001 0.0001 0.0001" mass="0.1354" pos="0.0095 0.0004 -0.0002"></inertial>
70
+ <joint axis="1 0 0" limited="false" name="robot0:wrist_roll_joint"></joint>
71
+ <geom mesh="robot0:wrist_roll_link" name="robot0:wrist_roll_link" material="robot0:arm_mat"></geom>
72
+ <body euler="0 0 0" name="robot0:gripper_link" pos="0.1664 0 0">
73
+ <inertial diaginertia="0.0024 0.0019 0.0013" mass="1.5175" pos="-0.09 -0.0001 -0.0017" quat="0 0.7071 0 0.7071"></inertial>
74
+ <geom mesh="robot0:gripper_link" name="robot0:gripper_link" material="robot0:gripper_mat"></geom>
75
+ <body name="robot0:gipper_camera_link" pos="0.055 0 0.0225">
76
+ <body name="robot0:gripper_camera_rgb_frame" pos="0 0.02 0">
77
+ <body name="robot0:gripper_camera_rgb_optical_frame" pos="0 0 0" quat="0.5 -0.5 0.5 -0.5">
78
+ <camera euler="3.1415 0 0" fovy="50" name="gripper_camera_rgb" pos="0 0 0"></camera>
79
+ </body>
80
+ </body>
81
+ <body name="robot0:gripper_camera_depth_frame" pos="0 0.045 0">
82
+ <body name="robot0:gripper_camera_depth_optical_frame" pos="0 0 0" quat="0.5 -0.5 0.5 -0.5"></body>
83
+ </body>
84
+ </body>
85
+
86
+ <body childclass="robot0:fetchGripper" name="robot0:r_gripper_finger_link" pos="0 0.0159 0">
87
+ <inertial diaginertia="0.1 0.1 0.1" mass="4" pos="-0.01 0 0"></inertial>
88
+ <joint axis="0 1 0" name="robot0:r_gripper_finger_joint" range="0 0.05"></joint>
89
+ <geom pos="0 -0.008 0" size="0.0385 0.007 0.0135" type="box" name="robot0:r_gripper_finger_link" material="robot0:gripper_finger_mat" condim="4" friction="1 0.05 0.01"></geom>
90
+ </body>
91
+ <body childclass="robot0:fetchGripper" name="robot0:l_gripper_finger_link" pos="0 -0.0159 0">
92
+ <inertial diaginertia="0.1 0.1 0.1" mass="4" pos="-0.01 0 0"></inertial>
93
+ <joint axis="0 -1 0" name="robot0:l_gripper_finger_joint" range="0 0.05"></joint>
94
+ <geom pos="0 0.008 0" size="0.0385 0.007 0.0135" type="box" name="robot0:l_gripper_finger_link" material="robot0:gripper_finger_mat" condim="4" friction="1 0.05 0.01"></geom>
95
+ </body>
96
+ <site name="robot0:grip" pos="0.02 0 0" rgba="0 0 0 0" size="0.02 0.02 0.02"></site>
97
+ </body>
98
+ </body>
99
+ </body>
100
+ </body>
101
+ </body>
102
+ </body>
103
+ </body>
104
+ </body>
105
+ </body>
106
+ <body name="robot0:estop_link" pos="-0.1246 0.2389 0.3113" quat="0.7071 0.7071 0 0">
107
+ <inertial diaginertia="0 0 0" mass="0.002" pos="0.0024 -0.0033 0.0067" quat="0.3774 -0.1814 0.1375 0.8977"></inertial>
108
+ <geom mesh="robot0:estop_link" rgba="0.8 0 0 1" name="robot0:estop_link"></geom>
109
+ </body>
110
+ <body name="robot0:laser_link" pos="0.235 0 0.2878" quat="0 1 0 0">
111
+ <inertial diaginertia="0 0 0" mass="0.0083" pos="-0.0306 0.0007 0.0552" quat="0.5878 0.5378 -0.4578 0.3945"></inertial>
112
+ <geom mesh="robot0:laser_link" rgba="0.7922 0.8196 0.9333 1" name="robot0:laser_link"></geom>
113
+ <camera euler="1.55 -1.55 3.14" fovy="25" name="lidar" pos="0 0 0.02"></camera>
114
+ </body>
115
+ <body name="robot0:torso_fixed_link" pos="-0.0869 0 0.3774">
116
+ <inertial diaginertia="0.3865 0.3394 0.1009" mass="13.2775" pos="-0.0722 0.0057 0.2656" quat="0.9995 0.0249 0.0177 0.011"></inertial>
117
+ <geom mesh="robot0:torso_fixed_link" name="robot0:torso_fixed_link" class="robot0:blue"></geom>
118
+ </body>
119
+ <body name="robot0:external_camera_body_0" pos="0 0 0">
120
+ <camera euler="0 0.75 1.57" fovy="43.3" name="external_camera_0" pos="1.3 0 1.2"></camera>
121
+ </body>
122
+ </body>
123
+ </mujoco>
share/doc/dart/data/mjcf/openai/robotics/fetch/shared.xml ADDED
@@ -0,0 +1,66 @@
1
+ <mujoco>
2
+ <asset>
3
+ <texture type="skybox" builtin="gradient" rgb1="0.44 0.85 0.56" rgb2="0.46 0.87 0.58" width="32" height="32"></texture>
4
+ <texture name="texture_block" file="block.png" gridsize="3 4" gridlayout=".U..LFRB.D.."></texture>
5
+
6
+ <material name="floor_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.2 0.2 0.2 1"></material>
7
+ <material name="table_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.93 0.93 0.93 1"></material>
8
+ <material name="block_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.2 0.2 0.2 1"></material>
9
+ <material name="puck_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.2 0.2 0.2 1"></material>
10
+ <material name="robot0:geomMat" shininess="0.03" specular="0.4"></material>
11
+ <material name="robot0:gripper_finger_mat" shininess="0.03" specular="0.4" reflectance="0"></material>
12
+ <material name="robot0:gripper_mat" shininess="0.03" specular="0.4" reflectance="0"></material>
13
+ <material name="robot0:arm_mat" shininess="0.03" specular="0.4" reflectance="0"></material>
14
+ <material name="robot0:head_mat" shininess="0.03" specular="0.4" reflectance="0"></material>
15
+ <material name="robot0:torso_mat" shininess="0.03" specular="0.4" reflectance="0"></material>
16
+ <material name="robot0:base_mat" shininess="0.03" specular="0.4" reflectance="0"></material>
17
+
18
+ <mesh file="base_link_collision.stl" name="robot0:base_link"></mesh>
19
+ <mesh file="bellows_link_collision.stl" name="robot0:bellows_link"></mesh>
20
+ <mesh file="elbow_flex_link_collision.stl" name="robot0:elbow_flex_link"></mesh>
21
+ <mesh file="estop_link.stl" name="robot0:estop_link"></mesh>
22
+ <mesh file="forearm_roll_link_collision.stl" name="robot0:forearm_roll_link"></mesh>
23
+ <mesh file="gripper_link.stl" name="robot0:gripper_link"></mesh>
24
+ <mesh file="head_pan_link_collision.stl" name="robot0:head_pan_link"></mesh>
25
+ <mesh file="head_tilt_link_collision.stl" name="robot0:head_tilt_link"></mesh>
26
+ <mesh file="l_wheel_link_collision.stl" name="robot0:l_wheel_link"></mesh>
27
+ <mesh file="laser_link.stl" name="robot0:laser_link"></mesh>
28
+ <mesh file="r_wheel_link_collision.stl" name="robot0:r_wheel_link"></mesh>
29
+ <mesh file="torso_lift_link_collision.stl" name="robot0:torso_lift_link"></mesh>
30
+ <mesh file="shoulder_pan_link_collision.stl" name="robot0:shoulder_pan_link"></mesh>
31
+ <mesh file="shoulder_lift_link_collision.stl" name="robot0:shoulder_lift_link"></mesh>
32
+ <mesh file="upperarm_roll_link_collision.stl" name="robot0:upperarm_roll_link"></mesh>
33
+ <mesh file="wrist_flex_link_collision.stl" name="robot0:wrist_flex_link"></mesh>
34
+ <mesh file="wrist_roll_link_collision.stl" name="robot0:wrist_roll_link"></mesh>
35
+ <mesh file="torso_fixed_link.stl" name="robot0:torso_fixed_link"></mesh>
36
+ </asset>
37
+
38
+ <equality>
39
+ <weld body1="robot0:mocap" body2="robot0:gripper_link" solimp="0.9 0.95 0.001" solref="0.02 1"></weld>
40
+ </equality>
41
+
42
+ <contact>
43
+ <exclude body1="robot0:r_gripper_finger_link" body2="robot0:l_gripper_finger_link"></exclude>
44
+ <exclude body1="robot0:torso_lift_link" body2="robot0:torso_fixed_link"></exclude>
45
+ <exclude body1="robot0:torso_lift_link" body2="robot0:shoulder_pan_link"></exclude>
46
+ </contact>
47
+
48
+ <default>
49
+ <default class="robot0:fetch">
50
+ <geom margin="0.001" material="robot0:geomMat" rgba="1 1 1 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh" user="0"></geom>
51
+ <joint armature="1" damping="50" frictionloss="0" stiffness="0"></joint>
52
+
53
+ <default class="robot0:fetchGripper">
54
+ <geom condim="4" margin="0.001" type="box" user="0" rgba="0.356 0.361 0.376 1.0"></geom>
55
+ <joint armature="100" damping="1000" limited="true" solimplimit="0.99 0.999 0.01" solreflimit="0.01 1" type="slide"></joint>
56
+ </default>
57
+
58
+ <default class="robot0:grey">
59
+ <geom rgba="0.356 0.361 0.376 1.0"></geom>
60
+ </default>
61
+ <default class="robot0:blue">
62
+ <geom rgba="0.086 0.506 0.767 1.0"></geom>
63
+ </default>
64
+ </default>
65
+ </default>
66
+ </mujoco>
share/doc/dart/data/mjcf/openai/robotics/fetch/slide.xml ADDED
@@ -0,0 +1,32 @@
1
+ <?xml version="1.0" encoding="utf-8"?>
2
+ <mujoco>
3
+ <compiler angle="radian" coordinate="local" meshdir="../stls/fetch" texturedir="../textures"></compiler>
4
+ <option timestep="0.002">
5
+ <flag warmstart="enable"></flag>
6
+ </option>
7
+
8
+ <include file="shared.xml"></include>
9
+
10
+ <worldbody>
11
+ <geom name="floor0" pos="1 0.75 0" size="1.05 0.7 1" type="plane" condim="3" material="floor_mat"></geom>
12
+ <body name="floor0" pos="1 0.75 0">
13
+ <site name="target0" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
14
+ </body>
15
+
16
+ <include file="robot.xml"></include>
17
+
18
+ <body name="table0" pos="1.32441906 0.75018422 0.2">
19
+ <geom size="0.625 0.45 0.2" type="box" condim="3" name="table0" material="table_mat" mass="2000" friction="0.1 0.005 0.0001"></geom>
20
+ </body>
21
+
22
+ <body name="object0" pos="0.025 0.025 0.02">
23
+ <joint name="object0:joint" type="free" damping="0.01"></joint>
24
+ <geom size="0.025 0.02" type="cylinder" condim="3" name="object0" material="puck_mat" friction="0.1 0.005 0.0001" mass="2"></geom>
25
+ <site name="object0" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
26
+ </body>
27
+
28
+ <light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false" pos="0 0 4" dir="0 0 -1" name="light0"></light>
29
+ </worldbody>
30
+
31
+ <actuator></actuator>
32
+ </mujoco>
share/doc/dart/data/mjcf/openai/robotics/stls/.get ADDED
File without changes