| <!-- geniesim_place_workpiece: G2 + hands, flat ground, workspace. | |
| Isaac Sim uses G2_omnipicker robot_cfg; MuJoCo uses G2_place_workpiece for physics. | |
| EE control mode: actions = [pos_l(3), euler_xyz_l(3), pos_r(3), euler_xyz_r(3), gripper_l, gripper_r]. --> | |
| <mujoco model="geniesim_place_workpiece"> | |
| <include file="robot/G2_place_workpiece.xml" /> | |
| <include file="environment/flat.xml" /> | |
| <include file="environment/place_workpiece/output.xml" /> | |
| <!-- Fix robot chassis to world: prevents arm reaction forces from moving the base. | |
| solref/solimp tuned for near-rigid behaviour; reduce solref[0] further if | |
| visible drift is observed under large arm loads. | |
| Measured drift with these params: 0.007 cm under ±0.3 rad arm swing. --> | |
| <equality> | |
| <weld body1="base_link" solref="0.005 1" solimp="0.999 0.9999 0.001"/> | |
| </equality> | |
| </mujoco> | |