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<mujoco model="Scanned Objects">
<!-- Memory? -->
<size memory="500M"/>
<!-- Default options -->
<compiler angle="radian" assetdir="./tabletop/mesh" autolimits="true" />
<option integrator="RK4" noslip_iterations="20" />
<default>
<joint armature="0.1" damping="0.1" />
<default class="visual_only">
<geom type="mesh" contype="0" conaffinity="0" group="2" />
</default>
<default class="no_visual_collision">
<!-- visual group of 'collision' should be 3 to not render -->
<geom type="capsule" solimp=".9 .99 .001" solref=".015 1" group="3" />
</default>
<default class="visual_collision">
<geom type="mesh" solimp=".9 .99 .001" solref=".015 1" group="2" />
</default>
</default>
<!-- Sky and floor -->
<include file="./tabletop/object/floor_isaac_style.xml" />
<!-- Table -->
<include file="./tabletop/object/object_table_2.xml" />
<!-- UR52 -->
<include file="./tabletop/object/ur5e_rg2.xml" />
</mujoco> |