convex hull - gravity and cube friction on pick place mjcf env.

perezjln · Aug 7, 2024 · 438feb2 · 438feb2
1 parent 4acbdd7
commit 438feb2
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/gym_lowcostrobot/assets/low_cost_robot_6dof/pick_place_cube.xml b/gym_lowcostrobot/assets/low_cost_robot_6dof/pick_place_cube.xml
@@ -1,7 +1,9 @@
 <mujoco model="bd1 scene">
+
+	<option gravity="0 0 -9.81"/>
 	<option timestep="0.005"/>
 
-	<compiler angle="radian" autolimits="true"/>
+	<compiler angle="radian" autolimits="true" convexhull="false"/>
 
 	<asset>
 		<mesh name="base" file="base.stl"/>
@@ -38,7 +40,7 @@
 		<body name="cube" pos="0.1 0.1 0.01">
 			<freejoint name="cube"/>
 			<inertial pos="0 0 0" mass="0.1" diaginertia="0.00001125 0.00001125 0.00001125"/>
-			<geom friction="0.5" condim="3" pos="0 0 0" size="0.015 0.015 0.015" type="box" name="cube" rgba="0.5 0 0 1" priority="1"/>
+			<geom friction="1.0" condim="3" pos="0 0 0" size="0.015 0.015 0.015" type="box" name="cube" rgba="0.5 0 0 1" priority="1"/>
 		</body>