20 lines
946 B
XML
20 lines
946 B
XML
<mujoco model="table_tennis(v0.1)">
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<compiler angle="radian" coordinate="local" meshdir="../meshes/wam" />
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<option gravity="0 0 -9.81" timestep="0.002">
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<flag warmstart="enable" />
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</option>
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<custom>
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<numeric data="0 0 0 0 0 0 0" name="START_ANGLES" />
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</custom>
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<include file="shared.xml" />
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<worldbody>
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<light cutoff="60" diffuse="1 1 1" dir="-.1 -.2 -1.3" directional="true" exponent="1" pos=".1 .2 1.3" specular=".1 .1 .1" />
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<geom conaffinity="1" contype="1" material="floor_plane" name="floor" pos="0 0 0" size="10 5 1" type="plane" />
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<include file="include_table.xml" />
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<include file="include_barrett_wam_7dof_right.xml" />
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<include file="include_target_ball.xml" />
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<!-- <include file="include_free_ball.xml" />-->
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</worldbody>
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<include file="include_7_motor_actuator.xml" />
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<!-- <include file="right_arm_actuator.xml"/>-->
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</mujoco> |