scene/scene.xml

<mujoco model="SO-101 block sorting">
  <include file="so101.xml" />
  <option timestep=".002" integrator="implicitfast" iterations="80" gravity="0 0 -9.81" noslip_iterations="10" impratio="10" />
  <visual>
    <global offwidth="960" offheight="720" />
    <headlight diffuse=".7 .7 .7" ambient=".5 .5 .5" specular=".1 .1 .1" />
  </visual>
  <asset>
    <texture type="skybox" builtin="gradient" rgb1=".18 .23 .30" rgb2=".42 .48 .54" width="512" height="3072" />
  </asset>
  <worldbody>
    <light pos=".1 -.3 1" dir="0 0 -1" directional="true" diffuse=".8 .8 .8" />
    <geom name="floor" type="plane" size="1 1 .02" rgba=".18 .22 .28 1" friction="1 .01 .001" />
    <geom name="work_mat" type="box" pos=".235 .035 .0005" size=".155 .215 .0005" rgba=".68 .70 .67 1" />
    <geom name="calibration_0" type="cylinder" pos="0.11 -0.16 .0012" size=".007 .0003" rgba=".05 .95 .95 1" contype="0" conaffinity="0" />
    <geom name="calibration_1" type="cylinder" pos="0.37 -0.16 .0012" size=".007 .0003" rgba=".05 .95 .95 1" contype="0" conaffinity="0" />
    <geom name="calibration_2" type="cylinder" pos="0.37 0.23 .0012" size=".007 .0003" rgba=".05 .95 .95 1" contype="0" conaffinity="0" />
    <geom name="calibration_3" type="cylinder" pos="0.11 0.23 .0012" size=".007 .0003" rgba=".05 .95 .95 1" contype="0" conaffinity="0" />
    <camera name="front" pos="0.7 -0.65 0.68" xyaxes="0.7899866870150783 0.6131239958922996 -0.0 -0.3674718093613782 0.47347329283100653 0.8004920426215607" fovy="42" />
    <body name="block_red" pos="0.255 -0.105 .014">
      <freejoint name="block_red_free" />
      <geom name="block_red_solid" type="box" size=".012 .010 .012" rgba=".88 .12 .10 1" mass=".014" friction="1.5 .03 .003" condim="4" solref=".008 1" />
      <geom type="cylinder" pos="-0.006 -0.005 .014" size=".003 .002" rgba=".88 .12 .10 1" mass=".0001" friction="1.2 .02 .002" />
      <geom type="cylinder" pos="-0.006 0.005 .014" size=".003 .002" rgba=".88 .12 .10 1" mass=".0001" friction="1.2 .02 .002" />
      <geom type="cylinder" pos="0.006 -0.005 .014" size=".003 .002" rgba=".88 .12 .10 1" mass=".0001" friction="1.2 .02 .002" />
      <geom type="cylinder" pos="0.006 0.005 .014" size=".003 .002" rgba=".88 .12 .10 1" mass=".0001" friction="1.2 .02 .002" />
    </body>
    <body name="block_green" pos="0.285 -0.025 .014">
      <freejoint name="block_green_free" />
      <geom name="block_green_solid" type="box" size=".012 .010 .012" rgba=".12 .70 .26 1" mass=".014" friction="1.5 .03 .003" condim="4" solref=".008 1" />
      <geom type="cylinder" pos="-0.006 -0.005 .014" size=".003 .002" rgba=".12 .70 .26 1" mass=".0001" friction="1.2 .02 .002" />
      <geom type="cylinder" pos="-0.006 0.005 .014" size=".003 .002" rgba=".12 .70 .26 1" mass=".0001" friction="1.2 .02 .002" />
      <geom type="cylinder" pos="0.006 -0.005 .014" size=".003 .002" rgba=".12 .70 .26 1" mass=".0001" friction="1.2 .02 .002" />
      <geom type="cylinder" pos="0.006 0.005 .014" size=".003 .002" rgba=".12 .70 .26 1" mass=".0001" friction="1.2 .02 .002" />
    </body>
    <body name="block_blue" pos="0.19 -0.075 .014">
      <freejoint name="block_blue_free" />
      <geom name="block_blue_solid" type="box" size=".012 .010 .012" rgba=".10 .32 .92 1" mass=".014" friction="1.5 .03 .003" condim="4" solref=".008 1" />
      <geom type="cylinder" pos="-0.006 -0.005 .014" size=".003 .002" rgba=".10 .32 .92 1" mass=".0001" friction="1.2 .02 .002" />
      <geom type="cylinder" pos="-0.006 0.005 .014" size=".003 .002" rgba=".10 .32 .92 1" mass=".0001" friction="1.2 .02 .002" />
      <geom type="cylinder" pos="0.006 -0.005 .014" size=".003 .002" rgba=".10 .32 .92 1" mass=".0001" friction="1.2 .02 .002" />
      <geom type="cylinder" pos="0.006 0.005 .014" size=".003 .002" rgba=".10 .32 .92 1" mass=".0001" friction="1.2 .02 .002" />
    </body>
    <body name="box" pos=".20 .135 0">
      <geom name="box_bottom" type="box" pos="0 0 .003" size=".062 .050 .003" rgba=".52 .36 .19 1" friction="1 .02 .002" />
      <geom name="box_left" type="box" pos="-.064 0 .020" size=".002 .054 .020" rgba=".66 .45 .24 1" friction="1 .02 .002" />
      <geom name="box_right" type="box" pos=".064 0 .020" size=".002 .054 .020" rgba=".66 .45 .24 1" friction="1 .02 .002" />
      <geom name="box_back" type="box" pos="0 .052 .020" size=".062 .002 .020" rgba=".66 .45 .24 1" friction="1 .02 .002" />
      <geom name="box_front" type="box" pos="0 -.052 .020" size=".062 .002 .020" rgba=".66 .45 .24 1" friction="1 .02 .002" />
    </body>
  </worldbody>
</mujoco>