55 lines
2.8 KiB
XML
55 lines
2.8 KiB
XML
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<?xml version="1.0" encoding="utf-8"?>
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<mujoco>
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<compiler angle="radian" coordinate="local" meshdir="mesh" texturedir="texture"></compiler>
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<size nconmax="2000" njmax="500"/>
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<option timestep="0.002">
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<flag warmstart="enable"></flag>
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</option>
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<include file="shared.xml"></include>
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<worldbody>
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<body name="floor0" pos="0 0 0">
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<geom name="floorgeom0" pos="1.2 -2.0 0" size="1.0 10.0 1" type="plane" condim="3" material="floor_mat"></geom>
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<site name="target0" pos="1.565 0.3 0.545" size="0.0475 0.001" rgba="1 0 0 1" type="cylinder"></site>
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</body>
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<include file="xarm.xml"></include>
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<body pos="0.75 0 0.6325" name="pedestal0">
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<geom name="pedestalgeom0" size="0.1 0.1 0.01" pos="0.32 0.27 0" type="box" mass="2000" material="pedestal_mat"></geom>
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<site pos="0.30 0.30 0" size="0.075 0.075 0.002" type="box" name="robotmountsite0" rgba="0.55 0.54 0.53 1" />
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</body>
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<body pos="1.5 0.075 0.3425" name="table0">
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<geom name="tablegeom0" size="0.3 0.6 0.2" pos="0 0 0" type="box" material="table_mat" density="2000" friction="1 0.005 0.0002"></geom>
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</body>
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<body name="object" pos="1.655 0.3 0.68">
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<joint name="object_joint0" type="free" limited="false"></joint>
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<geom size="0.024 0.024 0.024" type="box" name="object" material="block_mat" density="50000" condim="4" friction="1 1 1" solimp="1 1 1" solref="0.02 1"></geom>
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<site name="object_site" pos="0 0 0" size="0.024 0.024 0.024" rgba="0 0 0 0" type="box"></site>
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</body>
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<light directional="true" ambient="0.1 0.1 0.1" diffuse="0 0 0" specular="0 0 0" castshadow="false" pos="1.65 0 10" dir="-0.57 -0.57 -0.57" name="light0"></light>
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<light directional="true" ambient="0.1 0.1 0.1" diffuse="0 0 0" specular="0 0 0" castshadow="false" pos="0 -4 4" dir="0 1 -0.1" name="light1"></light>
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<light directional="true" ambient="0.05 0.05 0.05" diffuse="0 0 0" specular="0 0 0" castshadow="false" pos="2.13 1.6 2.5" name="light2"></light>
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<light pos="0 0 2" dir="0.2 0.2 -0.8" directional="true" diffuse="0.3 0.3 0.3" castshadow="false" name="light3"></light>
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<camera fovy="50" name="camera0" pos="0.9559 1.0 1.1" euler="-1.1 -0.6 3.4" />
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</worldbody>
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<equality>
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<connect body2="left_finger" body1="left_inner_knuckle" anchor="0.0 0.035 0.042" solimp="0.9 0.95 0.001 0.5 2" solref="0.0002 1.0" ></connect>
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<connect body2="right_finger" body1="right_inner_knuckle" anchor="0.0 -0.035 0.042" solimp="0.9 0.95 0.001 0.5 2" solref="0.0002 1.0" ></connect>
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<joint joint1="left_inner_knuckle_joint" joint2="right_inner_knuckle_joint"></joint>
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</equality>
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<actuator>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="left_inner_knuckle_joint" gear="200.0"/>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="right_inner_knuckle_joint" gear="200.0"/>
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</actuator>
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</mujoco>
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