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refactor: update MuJoCo XML and STL files, remove outdated ones
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@lil-km
lil-km committed Sep 25, 2024
1 parent 75e6181 commit 500b26c
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Showing 46 changed files with 321 additions and 700 deletions.
Binary file removed gym_lowcostrobot/assets/low_cost_robot_6dof/arm_connector.stl
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5 changes: 0 additions & 5 deletions gym_lowcostrobot/assets/low_cost_robot_6dof/config.json
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120 changes: 120 additions & 0 deletions gym_lowcostrobot/assets/low_cost_robot_6dof/follower.xml
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<mujoco model="follower">
<compiler angle="radian" meshdir="./follower_meshes/"/>
<option integrator="implicitfast" cone="elliptic" impratio="100" timestep="0.001"/>

<default>
<default class="follower">
<joint armature="0.1" damping="1" actuatorfrcrange="-10 10"/>
<position kp="1000" kv="100" inheritrange="1"/>
<default class="visual">
<geom type="mesh" group="2" contype="0" conaffinity="0"/>
</default>
<default class="collision">
<geom type="mesh" group="3" mass="0" density="0"/>
<default class="finger">
<geom type="mesh" priority="1" condim="6" solimp="0.015 1 0.036" friction="0.8 0.02 0.01"/>
</default>
</default>
<site size="0.001" rgba="0.5 0.5 0.5 0.3" group="4"/>
</default>
</default>

<asset>
<material name="black" rgba="0.1 0.1 0.1 1"/>
<material name="white" rgba="0.8 0.8 0.8 1"/>

<mesh name="base_link" file="base_link.STL"/>
<mesh name="link_1" file="link_1.STL"/>
<mesh name="link_2" file="link_2.STL"/>
<mesh name="link_3" file="link_3.STL"/>
<mesh name="link_4" file="link_4.STL"/>
<mesh name="link_5" file="link_5.STL"/>
<mesh name="link_6" file="link_6.STL"/>

<mesh name="base_link_motor" file="base_link_motor.STL"/>
<mesh name="link_1_motor" file="link_1_motor.STL"/>
<mesh name="link_2_motor" file="link_2_motor.STL"/>
<mesh name="link_3_motor" file="link_3_motor.STL"/>
<mesh name="link_4_motor" file="link_4_motor.STL"/>
<mesh name="link_5_motor" file="link_5_motor.STL"/>

<mesh name="base_link_collision" file="base_link_collision.stl"/>
<mesh name="link_1_collision" file="link_1_collision.stl"/>
<mesh name="link_2_collision" file="link_2_collision.stl"/>
<mesh name="link_3_collision" file="link_3_collision.stl"/>
<mesh name="link_4_collision" file="link_4_collision.stl"/>
<mesh name="link_5_collision" file="link_5_collision.stl"/>
<mesh name="link_6_collision" file="link_6_collision.stl"/>
</asset>

<worldbody>
<body name="base_link" childclass="follower">
<geom mesh="base_link" class="visual" material="white"/>
<geom mesh="base_link_motor" class="visual" material="black"/>
<geom mesh="base_link_collision" class="collision"/>

<body name="link_1" pos="0.012 0 0.0409">
<inertial pos="0.011924 -0.00048792 0.013381" quat="-0.0190903 0.705417 0.0178052 0.708312" mass="0.05014" diaginertia="1.44921e-05 1.2371e-05 7.59138e-06"/>
<joint name="joint_1" pos="0 0 0" axis="0 0 -1" range="-3.14 3.14"/>
<geom mesh="link_1" class="visual" material="white"/>
<geom mesh="link_1_motor" class="visual" material="black"/>
<geom mesh="link_1_collision" class="collision"/>

<body name="link_2" pos="0 -0.0209 0.0154">
<inertial pos="0.0011747 0.02097 0.071547" quat="0.998768 2.01447e-05 0.0496266 0.000367169" mass="0.050177" diaginertia="3.73065e-05 3.3772e-05 7.94901e-06"/>
<joint name="joint_2" pos="0 0 0" axis="0 1 0" range="-3.14 3.14"/>
<geom mesh="link_2" class="visual" material="white"/>
<geom mesh="link_2_motor" class="visual" material="black"/>
<geom mesh="link_2_collision" class="collision"/>

<body name="link_3" pos="-0.0148 0.0065 0.1083">
<inertial pos="-0.05537 0.014505 0.0028659" quat="8.17663e-05 0.710999 -4.16983e-05 0.703193" mass="0.06379" diaginertia="2.45081e-05 2.2231e-05 7.34061e-06"/>
<joint name="joint_3" pos="0 0 0" axis="0 1 0" range="-3.14 3.14"/>
<geom mesh="link_3" class="visual" material="white"/>
<geom mesh="link_3_motor" class="visual" material="black"/>
<geom mesh="link_3_collision" class="collision"/>

<body name="link_4" pos="-0.10048 5e-05 0.0026999">
<inertial pos="-0.02652 0.019195 -9.0614e-06" quat="0.707361 0.706812 0.00580344 0.00484124" mass="0.019805" diaginertia="2.95813e-06 2.8759e-06 1.07787e-06"/>
<joint name="joint_4" pos="0 0 0" axis="0 1 0" range="-3.14 3.14"/>
<geom mesh="link_4" class="visual" material="white"/>
<geom mesh="link_4_motor" class="visual" material="black"/>
<geom mesh="link_4_collision" class="collision"/>

<body name="link_5" pos="-0.045 0.013097 0">
<inertial pos="-0.019091 0.0053379 0.00018011" quat="0.105295 0.703509 -0.0986543 0.695885" mass="0.029277" diaginertia="8.11303e-06 7.14908e-06 3.27429e-06"/>
<joint name="joint_5" pos="0 0 0" axis="1 0 0" range="-3.14 3.14"/>
<geom mesh="link_5" class="visual" material="white"/>
<geom mesh="link_5_motor" class="visual" material="black"/>
<geom mesh="link_5_collision" class="finger"/>

<body name="link_6" pos="-0.01315 -0.0075 0.0145">
<inertial pos="-0.02507 0.0010817 -0.01414" quat="0.528148 0.5474 0.466496 0.451436" mass="0.012831" diaginertia="3.49922e-06 2.45768e-06 1.4645e-06"/>
<joint name="joint_6" pos="0 0 0" axis="0 0 -1" range="-2.45 0.032"/>
<geom mesh="link_6" class="visual" material="white"/>
<geom mesh="link_6_collision" class="finger"/>
</body>

<site name="end_effector" pos="-0.06429 0.00327 0.0011"/>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>

<contact>
<exclude name="exclude_base_link_link_1" body1="base_link" body2="link_1"/>
</contact>

<actuator>
<position class="follower" name="joint_1" joint="joint_1"/>
<position class="follower" name="joint_2" joint="joint_2"/>
<position class="follower" name="joint_3" joint="joint_3"/>
<position class="follower" name="joint_4" joint="joint_4"/>
<position class="follower" name="joint_5" joint="joint_5"/>
<position class="follower" name="joint_6" joint="joint_6"/>
</actuator>

</mujoco>
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172 changes: 37 additions & 135 deletions gym_lowcostrobot/assets/low_cost_robot_6dof/lift_cube.xml
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<mujoco model="bd1 scene">
<option timestep="0.005"/>

<compiler angle="radian" autolimits="true"/>

<asset>
<mesh name="base" file="base.stl"/>
<mesh name="dc11_a01_spacer_dummy" file="dc11_a01_spacer_dummy.stl"/>
<mesh name="dc11_a01_dummy" file="dc11_a01_dummy.stl"/>
<mesh name="rotation_connector" file="rotation_connector.stl"/>
<mesh name="arm_connector" file="arm_connector.stl"/>
<mesh name="dc15_a01_horn_idle2_dummy" file="dc15_a01_horn_idle2_dummy.stl"/>
<mesh name="dc15_a01_case_m_dummy" file="dc15_a01_case_m_dummy.stl"/>
<mesh name="dc15_a01_case_f_dummy" file="dc15_a01_case_f_dummy.stl"/>
<mesh name="dc15_a01_horn_dummy" file="dc15_a01_horn_dummy.stl"/>
<mesh name="dc15_a01_case_b_dummy" file="dc15_a01_case_b_dummy.stl"/>
<mesh name="connector" file="connector.stl"/>
<mesh name="shoulder_rotation" file="shoulder_rotation.stl"/>
<mesh name="static_side" file="static_side.stl"/>
<mesh name="moving_side" file="moving_side.stl"/>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072" />
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
</asset>

<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
<rgba haze="0.15 0.25 0.35 1" />
<global azimuth="150" elevation="-20" offheight="640" />
</visual>

<worldbody>
<light pos="0 0 3" dir="0 0 -1" directional="false" />
<body name="floor">
<geom pos="0 0 0" name="floor" size="0 0 .125" type="plane" material="groundplane" conaffinity="1" contype="1" />
</body>

<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"/>
</body>


<camera name="camera_front" pos="0.049 0.888 0.317" xyaxes="-0.998 0.056 -0.000 -0.019 -0.335 0.942"/>
<camera name="camera_top" pos="0 0 1" euler="0 0 0" mode="fixed"/>
<camera name="camera_vizu" pos="-0.1 0.6 0.3" quat="-0.15 -0.1 0.6 1"/>

<geom pos="0.0401555 -0.0353754 -0.0242427" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="base"/>
<geom pos="0.0511555 0.0406246 0.0099573" quat="0 0 0 1" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
<geom pos="0.0291555 0.000624643 0.0099573" quat="0 0 0 1" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
<geom pos="0.0511555 0.000624643 -0.0184427" quat="0 0 1 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
<geom pos="0.0401555 0.0326246 -0.0042427" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc11_a01_dummy"/>
<geom pos="0.0291555 0.000624643 -0.0184427" quat="0 0.707107 0.707107 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
<geom pos="0.0291555 0.0406246 0.0099573" quat="0.707107 0 0 -0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
<geom pos="0.0511555 0.0406246 -0.0184427" quat="0 0.707107 -0.707107 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
<geom pos="0.0291555 0.0406246 -0.0184427" quat="0 -1 0 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
<geom pos="0.0511555 0.000624643 0.0099573" quat="0.707107 0 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>

<body name="pitch1_assembly" pos="0.0401555 0.0326246 0.0166573">

<inertial pos="-0.000767103 -0.0121505 0.0134241" quat="0.498429 0.53272 -0.473938 0.493113" mass="0.0606831" diaginertia="1.86261e-05 1.72746e-05 1.11693e-05"/>
<joint name="shoulder_pan_joint" pos="0 0 0" axis="0 0 1" range="-3.14159 3.14159" damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
<geom pos="0 0 -0.0209" type="mesh" rgba="0.231373 0.380392 0.705882 1" mesh="rotation_connector"/>
<geom pos="-0.014 0.008 0.0264" quat="0 -0.707107 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
<geom pos="-0.014 -0.032 0.0044" quat="0 -0.707107 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
<geom pos="0.0144 -0.032 0.0264" quat="0.707107 0 0.707107 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
<geom pos="0.0002 0 0.0154" quat="0.707107 0 -0.707107 0" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc11_a01_dummy"/>
<geom pos="0.0144 -0.032 0.0044" quat="0.5 0.5 0.5 0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
<geom pos="-0.014 0.008 0.0044" quat="0.5 0.5 -0.5 -0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
<geom pos="0.0144 0.008 0.0264" quat="0.5 -0.5 0.5 -0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
<geom pos="0.0144 0.008 0.0044" quat="0 0.707107 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
<geom pos="-0.014 -0.032 0.0264" quat="0.5 -0.5 -0.5 0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>

<body name="pitch2_assembly" pos="-0.0188 0 0.0154" quat="0 0.707107 0 0.707107">

<inertial pos="0.0766242 -0.00031229 0.0187402" quat="0.52596 0.513053 0.489778 0.469319" mass="0.0432446" diaginertia="7.21796e-05 7.03107e-05 1.07533e-05"/>
<joint name="shoulder_lift_joint" pos="0 0 0" axis="0 0 1" range="-1.5708 1.22173" damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
<geom pos="0 0 0.019" quat="0.5 -0.5 -0.5 -0.5" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="arm_connector"/>
<geom pos="0.1083 -0.0148 0.03035" quat="1 0 0 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc15_a01_horn_idle2_dummy"/>
<geom pos="0.1083 -0.0148 0.01075" quat="0 -1 0 0" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
<geom pos="0.1083 -0.0148 0.01075" quat="0 -1 0 0" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
<geom pos="0.1083 -0.0148 0.00715" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
<geom pos="0.1083 -0.0148 0.03025" quat="0 -1 0 0" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>

<body name="pitch3_assembly" pos="0.1083 -0.0148 0.00425" quat="0.707107 0 0 0.707107">
<inertial pos="-0.0551014 -0.00287792 0.0144813" quat="0.500323 0.499209 0.499868 0.5006" mass="0.0788335" diaginertia="6.80912e-05 6.45748e-05 9.84479e-06"/>
<joint name="elbow_flex_joint" pos="0 0 0" axis="0 0 1" range="-1.48353 1.74533" damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
<geom pos="-0.00863031 0.00847376 0.0145" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="connector"/>
<geom pos="-0.100476 -0.00269986 0.02635" quat="0.707107 0 0 -0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc15_a01_horn_idle2_dummy"/>
<geom pos="-0.100476 -0.00269986 0.00675" quat="0 -0.707107 0.707107 0" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
<geom pos="-0.100476 -0.00269986 0.00675" quat="0 -0.707107 0.707107 0" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
<geom pos="-0.100476 -0.00269986 0.00315" quat="0.5 -0.5 -0.5 0.5" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
<geom pos="-0.100476 -0.00269986 0.02625" quat="0 -0.707107 0.707107 0" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>

<body name="effector_roll_assembly" pos="-0.100476 -0.00269986 0.02925" quat="0 -0.707107 -0.707107 0">
<inertial pos="-1.65017e-05 -0.02659 0.0195388" quat="0.936813 0.349829 -0.00055331 -0.000300569" mass="0.0240506" diaginertia="6.03208e-06 4.12894e-06 3.3522e-06"/>
<joint name="wrist_flex_joint" pos="0 0 0" axis="0 0 1" range="-1.91986 1.91986" damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
<geom pos="-0.0109998 -0.0190002 0.039" quat="0.707107 -0.707107 0 0" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="shoulder_rotation"/>
<geom pos="-7.44154e-06 -0.0385002 0.0133967" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
<geom pos="-7.44154e-06 -0.0385002 0.0133967" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
<geom pos="-7.44154e-06 -0.0421002 0.0133967" quat="0 1 0 0" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
<geom pos="-7.44154e-06 -0.0190002 0.0133967" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>

<body name="gripper_assembly" pos="-7.44154e-06 -0.0450002 0.0133967" quat="0.5 -0.5 -0.5 -0.5">
<inertial pos="-0.00548595 -0.000433143 -0.0190793" quat="0.700194 0.164851 0.167361 0.674197" mass="0.0360627" diaginertia="1.3261e-05 1.231e-05 5.3532e-06"/>
<joint name="wrist_roll_joint" pos="0 0 0" axis="0 0 1" range="-2.96706 2.96706" damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
<geom pos="-0.00075 -0.01475 -0.02" quat="0.707107 -0.707107 0 0" type="mesh" rgba="0.917647 0.917647 0.917647 1" mesh="static_side"/>
<geom pos="0.00755 0.01135 -0.013" quat="0.5 -0.5 0.5 0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc15_a01_horn_idle2_dummy"/>
<geom pos="0.00755 -0.00825 -0.013" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
<geom pos="0.00755 -0.00825 -0.013" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
<geom pos="0.00755 -0.01185 -0.013" quat="0 -0.707107 0 -0.707107" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
<geom pos="0.00755 0.01125 -0.013" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>

<body name="moving_side" pos="0.00755 -0.01475 -0.013" quat="0.707107 -0.707107 0 0">
<inertial pos="-0.000395599 0.022415 0.0145636" quat="0.722353 0.689129 0.0389102 0.0423547" mass="0.0089856" diaginertia="3.28451e-06 2.24898e-06 1.41539e-06"/>
<joint name="gripper_joint" pos="0 0 0" axis="0 0 1" range="-1.74533 0.0523599" damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
<geom pos="-0.00838199 -0.000256591 -0.003" type="mesh" rgba="0.768627 0.886275 0.952941 1" mesh="moving_side"/>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>

<actuator>
<position joint="shoulder_pan_joint" ctrlrange="-3.14159 3.14159" ctrllimited="true" kp="20" />
<position joint="shoulder_lift_joint" ctrlrange="-1.5708 1.22173" ctrllimited="true" kp="20" />
<position joint="elbow_flex_joint" ctrlrange="-1.48353 1.74533" ctrllimited="true" kp="20" />
<position joint="wrist_flex_joint" ctrlrange="-1.91986 1.91986" ctrllimited="true" kp="20" />
<position joint="wrist_roll_joint" ctrlrange="-2.96706 2.96706" ctrllimited="true" kp="20" />
<position joint="gripper_joint" ctrlrange="-1.74533 0.0523599" ctrllimited="true" kp="20" />
</actuator>
</mujoco>
<mujoco model="low_cost_robot scene">
<!-- The timestep has a big influence on the contacts stability -->
<option cone="elliptic" impratio="10" timestep="0.001"/>

<include file="follower.xml"/>

<statistic center="0 0 0.1" extent="0.6"/>

<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
<rgba haze="0.15 0.25 0.35 1"/>
<global azimuth="150" elevation="-20" offheight="640"/>
</visual>

<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
markrgb="0.8 0.8 0.8" width="300" height="300"/>
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
</asset>

<worldbody>
<light pos="0 0 3" dir="0 0 -1" directional="false"/>
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane" pos="0 0 0" friction="0.1"/>
<body name="box" pos="0.0 0.2 0.01">
<freejoint name="red_box_joint"/>
<inertial pos="0 0 0" mass="0.1" diaginertia="0.00016667 0.00016667 0.00016667"/>
<geom friction="0.5" condim="3" pos="0 0 0" size="0.015 0.015 0.015" type="box" name="red_box" rgba="0.5 0 0 1" priority="1"/>
</body>

<camera name="camera_front" pos="0.049 0.888 0.317" xyaxes="-0.998 0.056 -0.000 -0.019 -0.335 0.942"/>
<camera name="camera_top" pos="0 0 1" euler="0 0 0" mode="fixed"/>
<camera name="camera_vizu" pos="-0.1 0.6 0.3" quat="-0.15 -0.1 0.6 1"/>

</worldbody>

</mujoco>
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