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<?xml version="1.0" ?> |
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<mujoco model="so101_place_block"> |
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<option impratio="1" cone="elliptic" noslip_iterations="3"> |
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<flag multiccd="enable"/> |
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</option> |
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<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"/> |
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<actuator> |
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<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"/> |
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</actuator> |
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<sensor> |
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<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"/> |
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</sensor> |
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<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"/> |
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<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"/> |
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<worldbody> |
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<body name="so101_pose" pos="0.3 1. 0.71" euler="0 0 3.1416"> |
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<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"/> |
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</body> |
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<body name="block_green" pos="0 0.85 0.7145"> |
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<joint type="free" frictionloss="0.00001"/> |
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<inertial pos="0 0 0" mass="0.001" diaginertia="1e-7 1e-7 1e-7"/> |
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<geom rgba="0.21 0.36 0.21 1" size="0.0145 0.0145 0.0145" type="box" class="obj_collision" group="1"/> |
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</body> |
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<body name="bowl_pink" pos="0 1.03 0.6988"> |
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<joint type="free" frictionloss="0.00001"/> |
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<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"/> |
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</body> |
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</worldbody> |
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<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"/> |
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<keyframe> |
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<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"/> |
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</keyframe> |
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</mujoco> |
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