46 lines
2.2 KiB
XML
46 lines
2.2 KiB
XML
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<mujocoinclude>
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<default>
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<default class="wam">
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<joint type="hinge" limited="true" pos="0 0 0" axis="0 0 1"/>
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</default>
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<default class="viz">
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<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1"/>
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</default>
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<default class="col">
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<geom type="mesh" contype="0" conaffinity="1" group="0" rgba="1 1 1 1"/>
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</default>
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<default class="contact_geom">
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<geom condim="4" friction="0.1 0.1 0.1" margin="0" solimp="1 1 0" solref="0.1 0.03"/>
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</default>
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</default>
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<asset>
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<mesh file="base_link_fine.stl"/>
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<mesh file="base_link_convex.stl"/>
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<mesh file="shoulder_link_fine.stl"/>
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<mesh file="shoulder_link_convex_decomposition_p1.stl"/>
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<mesh file="shoulder_link_convex_decomposition_p2.stl"/>
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<mesh file="shoulder_link_convex_decomposition_p3.stl"/>
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<mesh file="shoulder_pitch_link_fine.stl"/>
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<mesh file="shoulder_pitch_link_convex.stl"/>
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<mesh file="upper_arm_link_fine.stl"/>
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<mesh file="upper_arm_link_convex_decomposition_p1.stl"/>
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<mesh file="upper_arm_link_convex_decomposition_p2.stl"/>
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<mesh file="elbow_link_fine.stl"/>
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<mesh file="elbow_link_convex.stl"/>
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<mesh file="forearm_link_fine.stl"/>
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<mesh file="forearm_link_convex_decomposition_p1.stl"/>
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<mesh file="forearm_link_convex_decomposition_p2.stl"/>
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<mesh file="wrist_yaw_link_fine.stl"/>
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<mesh file="wrist_yaw_link_convex_decomposition_p1.stl"/>
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<mesh file="wrist_yaw_link_convex_decomposition_p2.stl"/>
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<mesh file="wrist_pitch_link_fine.stl"/>
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<mesh file="wrist_pitch_link_convex_decomposition_p1.stl"/>
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<mesh file="wrist_pitch_link_convex_decomposition_p2.stl"/>
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<mesh file="wrist_pitch_link_convex_decomposition_p3.stl"/>
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<mesh file="wrist_palm_link_fine.stl"/>
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<mesh file="wrist_palm_link_convex.stl"/>
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<texture builtin="checker" height="512" name="texplane" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" type="2d"
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width="512"/>
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<material name="floor_plane" reflectance="0.5" texrepeat="1 1" texture="texplane" texuniform="true"/>
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</asset>
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</mujocoinclude>
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