| <mujoco model="panda scene"> | |
| <include file="mjx_scene.xml"/> | |
| <worldbody> | |
| <body name="box" pos="0.5 0 0.03"> | |
| <freejoint/> | |
| <geom type="box" name="box" size="0.02 0.02 0.03" condim="3" | |
| friction="1 .03 .003" rgba="0 1 0 1" contype="2" conaffinity="1" solref="0.01 1"/> | |
| </body> | |
| <body mocap="true" name="mocap_target"> | |
| <geom type="box" size="0.02 0.02 0.03" rgba="1 0 0 0.2" contype="0" conaffinity="0"/> | |
| </body> | |
| </worldbody> | |
| <keyframe> | |
| <key name="home" | |
| qpos="0 0.3 0 -1.57079 0 2.0 -0.7853 0.04 0.04 0.7 0 0.03 1 0 0 0" | |
| ctrl="0 0.3 0 -1.57079 0 2.0 -0.7853 0.04"/> | |
| <key name="pickup" | |
| qpos="0.2897 0.50732 -0.140016 -2.176 -0.0310497 2.51592 -0.49251 0.04 0.0399982 0.511684 0.0645413 0.0298665 0.665781 2.76848e-17 -2.27527e-17 -0.746147" | |
| ctrl="0.2897 0.423 -0.144392 -2.13105 -0.0291743 2.52586 -0.492492 0.04"/> | |
| <key name="pickup1" | |
| qpos='0.2897 0.496673 -0.142836 -2.14746 -0.0295746 2.52378 -0.492496 0.04 0.0399988 0.529553 0.0731702 0.0299388 0.94209 8.84613e-06 -4.97524e-06 -0.335361' | |
| ctrl="0.2897 0.458 -0.144392 -2.13105 -0.0291743 2.52586 -0.492492 0.04"/> | |
| </keyframe> | |
| </mujoco> | |