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<mujoco model="franka_stacking"> |
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<include file="panda.xml"/> |
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<compiler angle="degree" coordinate="local" inertiafromgeom="true"/> |
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<option timestep="0.002" gravity="0 0 -9.81" integrator="implicitfast"/> |
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<visual> |
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<map znear="0.01" zfar="50" fogstart="10" fogend="50"/> |
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<rgba fog="0.8 0.8 0.8 1"/> |
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</visual> |
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<default> |
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<joint/> |
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</default> |
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<worldbody> |
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<body name="panda" pos="0 0 0.1"/> |
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<geom name="floor" type="plane" size="2 2 0.1" material="floor_mat" condim="4"/> |
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<body name="block0" pos="0.3 0.1 0.15"> |
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<joint name="block0_free" type="free"/> |
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<geom name="block0_geom" type="box" size="0.05 0.05 0.05" material="block0_mat" rgba="1 0 0 1"/> |
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</body> |
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<body name="block1" pos="0.2 0.1 0.15"> |
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<joint name="block1_free" type="free"/> |
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<geom name="block1_geom" type="box" size="0.05 0.05 0.05" material="block1_mat" rgba="0 1 0 1"/> |
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</body> |
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<body name="block2" pos="0.1 0.1 0.15"> |
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<joint name="block2_free" type="free"/> |
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<geom name="block2_geom" type="box" size="0.05 0.05 0.05" material="block2_mat" rgba="0 0 1 1"/> |
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</body> |
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<body name="target_zone" pos="0 0 0.01"> |
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<geom name="target_zone_geom" type="plane" size="0.2 0.2 0.01" material="target_mat" rgba="0 1 1 0.5"/> |
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</body> |
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</worldbody> |
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<asset> |
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<material name="floor_mat" rgba="0.8 0.8 0.8 1"/> |
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<material name="block0_mat" rgba="1 0 0 1"/> |
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<material name="block1_mat" rgba="0 1 0 1"/> |
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<material name="block2_mat" rgba="0 0 1 1"/> |
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<material name="target_mat" rgba="0 1 1 0.5"/> |
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</asset> |
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</mujoco> |
