gym_aloha/assets/bimanual_viperx_transfer_cube.xml (34 lines of code) (raw):
<mujoco>
<include file="scene.xml"/>
<include file="vx300s_dependencies.xml"/>
<worldbody>
<include file="vx300s_left.xml" />
<include file="vx300s_right.xml" />
<body name="box" pos="0.2 0.5 0.05">
<joint name="red_box_joint" type="free" frictionloss="0.01" />
<inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" />
<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.02 0.02 0.02" type="box" name="red_box" rgba="1 0 0 1" />
</body>
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_left/waist" kp="800" user="1" forcelimited="true" forcerange="-150 150"/>
<position ctrllimited="true" ctrlrange="-1.85005 1.25664" joint="vx300s_left/shoulder" kp="1600" user="1" forcelimited="true" forcerange="-300 300"/>
<position ctrllimited="true" ctrlrange="-1.76278 1.6057" joint="vx300s_left/elbow" kp="800" user="1" forcelimited="true" forcerange="-100 100"/>
<position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_left/forearm_roll" kp="10" user="1" forcelimited="true" forcerange="-100 100"/>
<position ctrllimited="true" ctrlrange="-1.8675 2.23402" joint="vx300s_left/wrist_angle" kp="50" user="1"/>
<position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_left/wrist_rotate" kp="20" user="1"/>
<position ctrllimited="true" ctrlrange="0.021 0.057" joint="vx300s_left/left_finger" kp="200" user="1"/>
<position ctrllimited="true" ctrlrange="-0.057 -0.021" joint="vx300s_left/right_finger" kp="200" user="1"/>
<position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_right/waist" kp="800" user="1" forcelimited="true" forcerange="-150 150"/>
<position ctrllimited="true" ctrlrange="-1.85005 1.25664" joint="vx300s_right/shoulder" kp="1600" user="1" forcelimited="true" forcerange="-300 300"/>
<position ctrllimited="true" ctrlrange="-1.76278 1.6057" joint="vx300s_right/elbow" kp="800" user="1" forcelimited="true" forcerange="-100 100"/>
<position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_right/forearm_roll" kp="10" user="1" forcelimited="true" forcerange="-100 100"/>
<position ctrllimited="true" ctrlrange="-1.8675 2.23402" joint="vx300s_right/wrist_angle" kp="50" user="1"/>
<position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_right/wrist_rotate" kp="20" user="1"/>
<position ctrllimited="true" ctrlrange="0.021 0.057" joint="vx300s_right/left_finger" kp="200" user="1"/>
<position ctrllimited="true" ctrlrange="-0.057 -0.021" joint="vx300s_right/right_finger" kp="200" user="1"/>
</actuator>
<keyframe>
<key qpos="0 -0.96 1.16 0 -0.3 0 0.024 -0.024 0 -0.96 1.16 0 -0.3 0 0.024 -0.024 0.2 0.5 0.05 1 0 0 0"/>
</keyframe>
</mujoco>