gym_xarm/tasks/assets/lift.xml (41 lines of code) (raw):
<?xml version="1.0" encoding="utf-8"?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="mesh" texturedir="texture"></compiler>
<size nconmax="2000" njmax="500"/>
<option timestep="0.002">
<flag warmstart="enable"></flag>
</option>
<include file="shared.xml"></include>
<worldbody>
<body name="floor0" pos="0 0 0">
<geom name="floorgeom0" pos="1.2 -2.0 0" size="20.0 20.0 1" type="plane" condim="3" material="floor_mat"></geom>
</body>
<include file="xarm.xml"></include>
<body pos="0.75 0 0.6325" name="pedestal0">
<geom name="pedestalgeom0" size="0.1 0.1 0.01" pos="0.32 0.27 0" type="box" mass="2000" material="pedestal_mat"></geom>
<site pos="0.30 0.30 0" size="0.075 0.075 0.002" type="box" name="robotmountsite0" rgba="0.55 0.54 0.53 1" />
</body>
<body pos="1.5 0.075 0.3425" name="table0">
<geom name="tablegeom0" size="0.3 0.6 0.2" pos="0 0 0" type="box" material="table_mat" density="2000" friction="1 1 1"></geom>
</body>
<body name="object" pos="1.405 0.3 0.58625">
<joint name="object_joint0" type="free" limited="false"></joint>
<geom size="0.035 0.035 0.035" type="box" name="object0" material="block_mat" density="50000" condim="4" friction="1 1 1" solimp="1 1 1" solref="0.02 1"></geom>
<site name="object_site" pos="0 0 0" size="0.035 0.035 0.035" rgba="1 0 0 0" type="box"></site>
</body>
<light directional="true" ambient="0.1 0.1 0.1" diffuse="0 0 0" specular="0 0 0" castshadow="false" pos="1.65 0 10" dir="-0.57 -0.57 -0.57" name="light0"></light>
<light directional="true" ambient="0.1 0.1 0.1" diffuse="0 0 0" specular="0 0 0" castshadow="false" pos="0 -4 4" dir="0 1 -0.1" name="light1"></light>
<light directional="true" ambient="0.05 0.05 0.05" diffuse="0 0 0" specular="0 0 0" castshadow="false" pos="2.13 1.6 2.5" name="light2"></light>
<light pos="0 0 2" dir="0.2 0.2 -0.8" directional="true" diffuse="0.3 0.3 0.3" castshadow="false" name="light3"></light>
<camera fovy="50" name="camera0" pos="0.9559 1.0 1.1" euler="-1.1 -0.6 3.4" />
</worldbody>
<equality>
<connect body2="left_finger" body1="left_inner_knuckle" anchor="0.0 0.035 0.042" solimp="0.9 0.95 0.001 0.5 2" solref="0.0002 1.0" ></connect>
<connect body2="right_finger" body1="right_inner_knuckle" anchor="0.0 -0.035 0.042" solimp="0.9 0.95 0.001 0.5 2" solref="0.0002 1.0" ></connect>
<joint joint1="left_inner_knuckle_joint" joint2="right_inner_knuckle_joint"></joint>
</equality>
<actuator>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="left_inner_knuckle_joint" gear="200.0"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="right_inner_knuckle_joint" gear="200.0"/>
</actuator>
</mujoco>