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scene.xml
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scene.xml
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<mujoco>
<compiler angle="radian" />
<visual>
<map znear="0.001" zfar="50" />
<quality shadowsize="2048" />
</visual>
<asset>
<texture name="#1:texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512" mark="cross" markrgb=".8 .8 .8" />
<material name="#1:matplane" reflectance="0.3" texture="#1:texplane" texrepeat="1 1" texuniform="true" />
<material name="#1:black_plastic" rgba=".3 .3 .3 1" />
<mesh name="#1:object" file="/home/danfergo/Projects/PhD/geltip_simulation/geltip_dataset/scripts/../object_set/sphere.stl" scale="0.001 0.001 0.001" />
<material name="printer#2:black_plastic" rgba=".1 .1 .1 1" />
<material name="printer#2:black_metal" rgba=".3 .3 .3 1" />
<mesh name="printer#2:object_mount" file="/home/danfergo/Projects/PhD/geltip_simulation/experimental_setup/printer_extended/meshes/mount_object.stl" scale="0.001 0.001 0.001" />
<mesh name="printer#2:geltip_printer_mount" file="/home/danfergo/Projects/PhD/geltip_simulation/experimental_setup/printer_extended/meshes/geltip_printer_mount.stl" scale="0.001 0.001 0.001" />
<mesh name="printer#3:fdm_printer_bottom_frame" file="/home/danfergo/Projects/PhD/geltip_simulation/experimental_setup/anet_a30/meshes/bottom_frame.stl" scale="0.0011 0.0011 0.0011" />
<mesh name="printer#3:fdm_printer_side1_frame" file="/home/danfergo/Projects/PhD/geltip_simulation/experimental_setup/anet_a30/meshes/side1_frame.stl" scale="0.0011 0.0011 0.0011" />
<mesh name="printer#3:fdm_printer_side2_frame" file="/home/danfergo/Projects/PhD/geltip_simulation/experimental_setup/anet_a30/meshes/side2_frame.stl" scale="0.0011 0.0011 0.0011" />
<mesh name="printer#3:fdm_printer_bed" file="/home/danfergo/Projects/PhD/geltip_simulation/experimental_setup/anet_a30/meshes/bed2.stl" scale="0.0011 0.0011 0.0011" />
<mesh name="printer#3:fdm_printer_x_axis" file="/home/danfergo/Projects/PhD/geltip_simulation/experimental_setup/anet_a30/meshes/x_axis.stl" scale="0.0011 0.0011 0.0011" />
<material name="printer#3:black_metal" rgba=".2 .2 .2 1" specular="0.95" />
<material name="geltip#4:glass_material" rgba="1 1 1 0.1" />
<material name="geltip#4:white_elastomer" rgba="1 1 1 1" />
<material name="geltip#4:black_plastic" rgba=".3 .3 .3 1" />
<material name="geltip#4:label_color" rgba=".5 .5 .5 1.0" />
<mesh name="geltip#4:geltip_shell" file="/home/danfergo/Projects/PhD/geltip_simulation/experimental_setup/geltip/meshes/shell_open.stl" scale="0.001 0.001 0.001" />
<mesh name="geltip#4:geltip_sleeve" file="/home/danfergo/Projects/PhD/geltip_simulation/experimental_setup/geltip/meshes/sleeve_open.stl" scale="0.001 0.001 0.001" />
<mesh name="geltip#4:geltip_mount" file="/home/danfergo/Projects/PhD/geltip_simulation/experimental_setup/geltip/meshes/mount.stl" scale="0.001 0.001 0.001" />
<mesh name="geltip#4:geltip_glass" file="/home/danfergo/Projects/PhD/geltip_simulation/experimental_setup/geltip/meshes/glass_long.stl" scale="0.00099 0.00099 0.00099" />
<mesh name="geltip#4:geltip_elastomer" file="/home/danfergo/Projects/PhD/geltip_simulation/experimental_setup/geltip/meshes/elastomer_long.stl" scale="0.00099 0.00099 0.00099" />
<mesh name="geltip#4:geltip_elastomer_inv" file="/home/danfergo/Projects/PhD/geltip_simulation/experimental_setup/geltip/meshes/elastomer_very_long_voxel_e-6_inv.stl" scale="0.001 0.001 0.001" />
</asset>
<worldbody>
<light directional="true" diffuse=".9 .9 .9" specular="0.1 0.1 0.1" pos="0 0 5.0" dir="0 0 -1" />
<camera name="#1:viewer" pos="0 0 0.5" mode="fixed" zaxis="0 0 1" />
<body name="#1:floor">
<geom name="#1:ground" type="plane" size="0 0 1" pos="0 0 0" quat="1 0 0 0" material="#1:matplane" condim="1" />
</body>
<body>
<body pos="0 0 0.09">
<geom type="mesh" mesh="printer#3:fdm_printer_bottom_frame" material="printer#3:black_metal" />
<geom type="mesh" mesh="printer#3:fdm_printer_side1_frame" material="printer#3:black_metal" />
<geom type="mesh" mesh="printer#3:fdm_printer_side2_frame" material="printer#3:black_metal" />
<geom type="mesh" mesh="printer#3:fdm_printer_x_axis" material="printer#3:black_metal" />
</body>
<body name="printer#3:zaxis_body" pos="0 -0.025 0.0634">
<joint name="printer#3:zaxis" type="slide" stiffness="50" damping="100" axis="0 0 1" />
<geom type="mesh" mesh="printer#3:fdm_printer_x_axis" material="printer#3:black_metal" fitscale="0.001" pos="0 0 -0.498" />
<body name="printer#3:xaxis_body">
<joint name="printer#3:xaxis" type="slide" stiffness="50" damping="100" axis="1 0 0" />
<body pos="-0.002 0 0.05" name="printer#3:printer_head">
<geom type="box" pos="0.001 0.01 0.005" size=".04 .002 .035" material="printer#3:black_metal" />
<body>
<geom type="box" pos="-0.01 -0.014 -0.015" size=".025 .018 .0125" material="printer#2:black_plastic" />
<body name="printer#2:a2_body" pos="-0.032 -0.04 -0.016" xyaxes="1 0 0 0 -1 0">
<body>
<joint name="printer#2:a1" armature="1" damping="100" type="hinge" axis="0 -1 0" />
<geom type="mesh" pos="0 0 0" mesh="printer#2:object_mount" material="printer#2:black_plastic" />
<body pos="0 0.0108 0" name="printer#2:indenter_mount" axisangle="1 0 0 0">
<geom type="mesh" density="0.1" mesh="#1:object" material="#1:black_plastic" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="printer#3:printer_bed" pos="0 0 0.08">
<joint name="printer#3:yaxis" type="slide" stiffness="50" damping="100" axis="0 -1 0" />
<geom type="mesh" mesh="printer#3:fdm_printer_bed" material="printer#3:black_metal" friction="0.4 0.4 0.8" />
<body>
<geom type="box" size="0.1085 0.165 0.003" pos="0.17 0.165 0.004" rgba=".8 .68 0.5 1" />
<body pos="0 0 0">
<body pos="0.153 0.128 0.046" xyaxes="0 1 0 0 0 1">
<geom type="box" zaxis="0 1 0" pos="0.01 0.0 -0.065" size=".025 .018 .0125" material="printer#2:black_plastic" />
<geom type="box" pos="0.01 -.014 -0.065" size=".04 .001 .0125" material="printer#2:black_metal" />
<geom type="box" pos="0.01 -.038 -0.065" size=".04 .001 .0125" material="printer#2:black_metal" />
<geom type="box" zaxis="0 1 0" pos="0.01 -.026 -0.053" size=".04 .001 .0125" material="printer#2:black_metal" />
<geom type="mesh" pos="0 0 0.003" mesh="printer#2:geltip_printer_mount" material="printer#2:black_plastic" friction="0.4 0.4 0.8" />
<body name="printer#2:geltip_mount">
<joint name="printer#2:a2" type="hinge" armature="1" damping="100" axis="0 0 -1" />
<geom type="cylinder" density="0.1" pos="0 0 -0.045 " size="0.01 0.001" />
<body name="geltip#4:geltip">
<geom type="sphere" density="0.1" material="geltip#4:label_color" size="0.005" pos="0.0 0.012 -0.025" />
<geom density="0.1" type="mesh" mesh="geltip#4:geltip_shell" material="geltip#4:black_plastic" />
<geom density="0.1" type="mesh" mesh="geltip#4:geltip_sleeve" material="geltip#4:black_plastic" />
<geom density="0.1" type="mesh" mesh="geltip#4:geltip_mount" material="geltip#4:black_plastic" />
<camera name="geltip#4:camera" pos="0 0 0.01" zaxis="0 0 -1" fovy="90" />
<body>
<geom density="0.1" type="mesh" mesh="geltip#4:geltip_elastomer" friction="1 0.05 0.01" contype="32" conaffinity="32" material="geltip#4:white_elastomer" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<sensor>
<actuatorpos name="printer#2:a1" actuator="printer#2:a1" />
<actuatorpos name="printer#2:a2" actuator="printer#2:a2" />
<actuatorpos name="printer#3:x" actuator="printer#3:ax" />
<actuatorpos name="printer#3:y" actuator="printer#3:ay" />
<actuatorpos name="printer#3:z" actuator="printer#3:az" />
</sensor>
<actuator>
<position name="printer#2:a1" gear="50" joint="printer#2:a1" forcelimited="true" forcerange="-10 10" kp="10" />
<position name="printer#2:a2" gear="50" joint="printer#2:a2" forcelimited="true" forcerange="-10 10" kp="10" />
<position name="printer#3:ax" gear="50" joint="printer#3:xaxis" forcelimited="true" forcerange="-500 500" kp="50" />
<position name="printer#3:ay" gear="50" joint="printer#3:yaxis" forcelimited="true" forcerange="-500 500" kp="50" />
<position name="printer#3:az" gear="50" joint="printer#3:zaxis" forcelimited="true" forcerange="-500 500" kp="50" />
</actuator>
</mujoco>