| <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="1 0.75 0" size="1.05 0.7 1" type="plane" condim="3" material="floor_mat"></geom> | |
| <body name="floor0" pos="1 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 name="table0" pos="1.32441906 0.75018422 0.2"> | |
| <geom size="0.625 0.45 0.2" type="box" condim="3" name="table0" material="table_mat" mass="2000" friction="0.1 0.005 0.0001"></geom> | |
| </body> | |
| <body name="object0" pos="0.025 0.025 0.02"> | |
| <joint name="object0:joint" type="free" damping="0.01"></joint> | |
| <geom size="0.025 0.02" type="cylinder" condim="3" name="object0" material="puck_mat" friction="0.1 0.005 0.0001" 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> | |