| <?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> |
|
|
