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<mujoco model="franka_stacking">
<!-- Include the prebuilt Panda model from MuJoCo Menagerie -->
<include file="panda.xml"/>
<!-- Compiler and option settings -->
<compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
<option timestep="0.002" gravity="0 0 -9.81" integrator="implicitfast"/>
<!-- Visual settings -->
<visual>
<map znear="0.01" zfar="50" fogstart="10" fogend="50"/>
<rgba fog="0.8 0.8 0.8 1"/>
</visual>
<!-- Default joint settings (optional, for new joints if added) -->
<default>
<joint/>
</default>
<!-- Extend the worldbody with blocks and target zone -->
<worldbody>
<!-- Reference the included Panda arm, positioned for stacking -->
<body name="panda" pos="0 0 0.1"/>
<!-- Floor -->
<geom name="floor" type="plane" size="2 2 0.1" material="floor_mat" condim="4"/>
<!-- Blocks (moved slightly forward and adjusted z for clearance) -->
<body name="block0" pos="0.3 0.1 0.15"> <!-- Moved to x=0.3, z=0.15 to avoid base -->
<joint name="block0_free" type="free"/>
<geom name="block0_geom" type="box" size="0.05 0.05 0.05" material="block0_mat" rgba="1 0 0 1"/>
</body>
<body name="block1" pos="0.2 0.1 0.15"> <!-- Moved to x=0.2, z=0.15 -->
<joint name="block1_free" type="free"/>
<geom name="block1_geom" type="box" size="0.05 0.05 0.05" material="block1_mat" rgba="0 1 0 1"/>
</body>
<body name="block2" pos="0.1 0.1 0.15"> <!-- Moved to x=0.1, z=0.15 -->
<joint name="block2_free" type="free"/>
<geom name="block2_geom" type="box" size="0.05 0.05 0.05" material="block2_mat" rgba="0 0 1 1"/>
</body>
<!-- Target Zone -->
<body name="target_zone" pos="0 0 0.01">
<geom name="target_zone_geom" type="plane" size="0.2 0.2 0.01" material="target_mat" rgba="0 1 1 0.5"/>
</body>
</worldbody>
<!-- Materials for visualization -->
<asset>
<material name="floor_mat" rgba="0.8 0.8 0.8 1"/>
<material name="block0_mat" rgba="1 0 0 1"/> <!-- Red -->
<material name="block1_mat" rgba="0 1 0 1"/> <!-- Green -->
<material name="block2_mat" rgba="0 0 1 1"/> <!-- Blue -->
<material name="target_mat" rgba="0 1 1 0.5"/> <!-- Cyan, semi-transparent -->
</asset>
</mujoco> |