File size: 901 Bytes
ae02014 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 | <!-- geniesim_place_workpiece: G2 + hands, flat ground, workspace.
Isaac Sim uses G2_omnipicker robot_cfg; MuJoCo uses G2_place_workpiece for physics.
EE control mode: actions = [pos_l(3), euler_xyz_l(3), pos_r(3), euler_xyz_r(3), gripper_l, gripper_r]. -->
<mujoco model="geniesim_place_workpiece">
<include file="robot/G2_place_workpiece.xml" />
<include file="environment/flat.xml" />
<include file="environment/place_workpiece/output.xml" />
<!-- Fix robot chassis to world: prevents arm reaction forces from moving the base.
solref/solimp tuned for near-rigid behaviour; reduce solref[0] further if
visible drift is observed under large arm loads.
Measured drift with these params: 0.007 cm under ±0.3 rad arm swing. -->
<equality>
<weld body1="base_link" solref="0.005 1" solimp="0.999 0.9999 0.001"/>
</equality>
</mujoco>
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