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Replace bench with smaller and taller mini-table in Boulder office #5

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2 changes: 1 addition & 1 deletion src/dual_arm_mobile_sim/description/bottle.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,7 @@

<worldbody>
<!-- bottle mockup -->
<body name="bottle" pos="0.8 0 0.6" quat="0.707107 0 0 -0.707107">
<body name="bottle" pos="0.85 -0.25 0.75" quat="0.707107 0 0 -0.707107">
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@bkanator bkanator Feb 3, 2026

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just makes me think I should change some of the example objectives to account for bottle being slightly moved

<freejoint />
<inertial mass="0.5" pos="0 0 0.15" diaginertia="0.001 0.001 0.0005" />
<!-- <site name="bottle_top" pos="0 0 0.365" quat="0 0 0.707107 0.707107" group="0"/> -->
Expand Down
187 changes: 101 additions & 86 deletions src/dual_arm_mobile_sim/description/trainer.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -150,92 +150,6 @@
group="3"
rgba="0.85 0.85 0.85 1"
/>
<!--IVR Trainer Bench-->
<geom
size="0.354 0.025 0.025"
pos="-2.07612 0.824571 0.5019"
quat="-0.706686 0 0 0.707527"
type="box"
rgba="0.85 0.85 0.85 1"
/>
<geom
size="0.354 0.025 0.025"
pos="-1.23077 0.823566 0.5019"
quat="-0.706686 0 0 0.707527"
type="box"
rgba="0.85 0.85 0.85 1"
/>
<geom
size="0.025 0.4475 0.025"
pos="-1.65402 0.491869 0.5019"
quat="-0.706686 0 0 0.707527"
type="box"
rgba="0.85 0.85 0.85 1"
/>

<geom
pos="-2.02069 1.18951 0.457"
quat="-0.706686 0 0 0.707527"
type="mesh"
rgba="0.85 0.85 0.85 1"
mesh="front_left_face"
/>
<geom
pos="-2.02069 1.18951 0.982"
quat="-0.706686 0 0 0.707527"
type="mesh"
rgba="0.85 0.85 0.85 1"
mesh="cubby_1"
/>
<geom
pos="-2.02069 1.18951 1.332"
quat="-0.706686 0 0 0.707527"
type="mesh"
rgba="0.85 0.85 0.85 1"
mesh="cubby_2"
/>
<geom
pos="-1.63569 1.18905 0.457"
quat="-0.706686 0 0 0.707527"
type="mesh"
rgba="0.85 0.85 0.85 1"
mesh="front_right_face"
/>
<geom
pos="-1.21317 1.62655 0.04"
quat="-0.706686 0 0 0.707527"
type="mesh"
rgba="0.85 0.85 0.85 1"
mesh="side_bottom_face"
/>
<geom
pos="-1.21317 1.62655 0.548419"
quat="-0.706686 0 0 0.707527"
type="mesh"
rgba="0.85 0.85 0.85 1"
mesh="side_top_face"
/>

<body
name="bench_lid"
pos="-2.10085 1.0516 0.5244"
quat="-0.706686 0 0 0.707527"
>
<site name="bench_lid_site" />
<joint
name="bench_lid_joint"
pos="0 0 0"
axis="0 -1 0"
range="0 1.65806"
actuatorfrcrange="-10 10"
/>
<geom
size="0.3015 0.46 0.01625"
pos="0.309 0.46 0.025"
type="box"
rgba="0 0 1 1"
/>
</body>
<body
name="cabinet_1"
pos="-1.28991 1.17164 1.17"
Expand Down Expand Up @@ -468,6 +382,107 @@
<geom type="mesh" rgba="0 0 1 1" mesh="recessed_latch_handle" />
</body>
</body>
<!--IVR Trainer Bench-->
<!-- <geom
size="0.354 0.025 0.025"
pos="-2.07612 0.824571 0.5019"
quat="-0.706686 0 0 0.707527"
type="box"
rgba="0.85 0.85 0.85 1"
/>
<geom
size="0.354 0.025 0.025"
pos="-1.23077 0.823566 0.5019"
quat="-0.706686 0 0 0.707527"
type="box"
rgba="0.85 0.85 0.85 1"
/>
<geom
size="0.025 0.4475 0.025"
pos="-1.65402 0.491869 0.5019"
quat="-0.706686 0 0 0.707527"
type="box"
rgba="0.85 0.85 0.85 1"
/>

<geom
pos="-2.02069 1.18951 0.457"
quat="-0.706686 0 0 0.707527"
type="mesh"
rgba="0.85 0.85 0.85 1"
mesh="front_left_face"
/>
<geom
pos="-2.02069 1.18951 0.982"
quat="-0.706686 0 0 0.707527"
type="mesh"
rgba="0.85 0.85 0.85 1"
mesh="cubby_1"
/>
<geom
pos="-2.02069 1.18951 1.332"
quat="-0.706686 0 0 0.707527"
type="mesh"
rgba="0.85 0.85 0.85 1"
mesh="cubby_2"
/>
<geom
pos="-1.63569 1.18905 0.457"
quat="-0.706686 0 0 0.707527"
type="mesh"
rgba="0.85 0.85 0.85 1"
mesh="front_right_face"
/>
<geom
pos="-1.21317 1.62655 0.04"
quat="-0.706686 0 0 0.707527"
type="mesh"
rgba="0.85 0.85 0.85 1"
mesh="side_bottom_face"
/>
<geom
pos="-1.21317 1.62655 0.548419"
quat="-0.706686 0 0 0.707527"
type="mesh"
rgba="0.85 0.85 0.85 1"
mesh="side_top_face"
/>

<body
name="bench_lid"
pos="-2.10085 1.0516 0.5244"
quat="-0.706686 0 0 0.707527"
>
<site name="bench_lid_site" />
<joint
name="bench_lid_joint"
pos="0 0 0"
axis="0 -1 0"
range="0 1.65806"
actuatorfrcrange="-10 10"
/>
<geom
size="0.3015 0.46 0.01625"
pos="0.309 0.46 0.025"
type="box"
rgba="0 0 1 1"
/>
</body> -->
</body>
<!-- Table edge -->
<body name="table" pos="0.99 0 0">
<geom
size="0.2 0.325 0.01"
pos="0 0 0.71"
type="box"
rgba="0.2 0.2 0.2 1"
/>
<geom
size="0.02 0.02 0.35"
pos="0 0 0.35"
type="box"
rgba="0.2 0.2 0.2 1"
/>
</body>
</worldbody>
</mujoco>