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<?xml version="1.0" encoding="utf-8"?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="../stls/fetch" texturedir="../textures"></compiler>
<option timestep="0.002">
<flag warmstart="enable"></flag>
</option>
<include file="shared.xml"></include>
<worldbody>
<geom name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" condim="3" material="floor_mat"></geom>
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
</body>
<include file="robot.xml"></include>
<body pos="1.3 0.75 0.2" name="table0">
<geom size="0.25 0.35 0.2" type="box" mass="2000" material="table_mat"></geom>
</body>
<body name="object0" pos="0.025 0.025 0.025">
<joint name="object0:joint" type="free" damping="0.01"></joint>
<geom size="0.025 0.025 0.025" type="box" condim="3" name="object0" material="block_mat" mass="2"></geom>
<site name="object0" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
</body>
<light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false" pos="0 0 4" dir="0 0 -1" name="light0"></light>
</worldbody>
<actuator></actuator>
</mujoco> |