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<?xml version="1.0" ?>
<mujoco model="so101_place_block">
<option impratio="1" cone="elliptic" noslip_iterations="3">
<flag multiccd="enable"/>
</option>
<include file="/is/sg2/mzhobro/AL_projects/0_mikel_projects/spatial_inpainting/simple_discoverse_place_box_so101/guide_vla/assets/models/mjcf/manipulator/so101/so101_dependencies.xml"/>
<actuator>
<include file="/is/sg2/mzhobro/AL_projects/0_mikel_projects/spatial_inpainting/simple_discoverse_place_box_so101/guide_vla/assets/models/mjcf/manipulator/so101/so101_control.xml"/>
</actuator>
<sensor>
<include file="/is/sg2/mzhobro/AL_projects/0_mikel_projects/spatial_inpainting/simple_discoverse_place_box_so101/guide_vla/assets/models/mjcf/manipulator/so101/so101_sensor.xml"/>
</sensor>
<include file="/is/sg2/mzhobro/AL_projects/0_mikel_projects/spatial_inpainting/simple_discoverse_place_box_so101/guide_vla/assets/models/mjcf/object/bowl_dependencies.xml"/>
<compiler angle="radian" meshdir="/is/sg2/mzhobro/AL_projects/0_mikel_projects/spatial_inpainting/simple_discoverse_place_box_so101/guide_vla/assets/models/meshes" texturedir="/is/sg2/mzhobro/AL_projects/0_mikel_projects/spatial_inpainting/simple_discoverse_place_box_so101/guide_vla/assets/models/meshes" autolimits="true"/>
<worldbody>
<body name="so101_pose" pos="0.3 1. 0.71" euler="0 0 3.1416">
<include file="/is/sg2/mzhobro/AL_projects/0_mikel_projects/spatial_inpainting/simple_discoverse_place_box_so101/guide_vla/assets/models/mjcf/manipulator/so101/so101.xml"/>
</body>
<body name="block_green" pos="0 0.85 0.7145">
<joint type="free" frictionloss="0.00001"/>
<inertial pos="0 0 0" mass="0.001" diaginertia="1e-7 1e-7 1e-7"/>
<geom rgba="0.21 0.36 0.21 1" size="0.0145 0.0145 0.0145" type="box" class="obj_collision" group="1"/>
</body>
<body name="bowl_pink" pos="0 1.03 0.6988">
<joint type="free" frictionloss="0.00001"/>
<include file="/is/sg2/mzhobro/AL_projects/0_mikel_projects/spatial_inpainting/simple_discoverse_place_box_so101/guide_vla/assets/models/mjcf/object/bowl_pink.xml"/>
</body>
</worldbody>
<include file="/is/sg2/mzhobro/AL_projects/0_mikel_projects/spatial_inpainting/simple_discoverse_place_box_so101/guide_vla/assets/models/mjcf/scene/qz_lab3.xml"/>
<keyframe>
<key name="home" qpos="0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.85 0.7145 1.0 0.0 0.0 0.0 0.0 1.03 0.6988 1.0 0.0 0.0 0.0 0.0 0.0" ctrl="0 0 0 0 0 0"/>
</keyframe>
</mujoco>
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