updates to scene

marioprats · marioprats · commit d983da51a468 · 2025-09-17T10:58:48.000-06:00
diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/description/mujoco/scene.xml b/src/moveit_pro_franka_configs/franka_dual_arm_sim/description/mujoco/scene.xml
@@ -43,26 +43,65 @@
     <geom name="floor" size="0 0 0.05" type="plane" material="groundplane" />
     <site
       name="scene_camera_optical_frame"
-      pos="1.5 0.7 1.5"
-      euler="2.6 -0.8 -2.14"
+      pos="0.4 0.0 1.5"
+      xyaxes="0 -1 0 -1 0 0"
     />
     <camera
       name="scene_camera"
-      pos="1.5 0.7 1.5"
+      pos="0.4 0.0 1.5"
       fovy="58"
       mode="fixed"
       resolution="640 480"
-      euler="-0.54 0.8 2.14"
+      xyaxes="0 -1 0 1 0 0"
     />
+    <geom
+      name="box_front"
+      type="box"
+      size="0.4 0.3 0.01"
+      pos="0.7 0 0.0"
+      rgba="0.6 0.6 0.6 1"
+    />
+    <geom
+      name="box_left"
+      type="box"
+      size="0.25 0.5 0.01"
+      pos="0 0.9 0.0"
+      rgba="0.7 0.3 0.3 1"
+    />
+    <geom
+      name="box_right"
+      type="box"
+      size="0.25 0.5 0.01"
+      pos="0 -0.9 0.0"
+      rgba="0.3 0.7 0.3 1"
+    />
+
+    <!-- <replicate count="5" offset="0 0.1 0"> -->
+    <body name="block_green" pos="0.5 0 0.2">
+      <freejoint name="block_green" />
+      <geom type="box" size="0.025 0.025 0.025" rgba="0 0.8 0 1" />
+    </body>
+    <!-- </replicate> -->
+
+    <!-- <replicate count="5" offset="0 0.1 0"> -->
+    <body name="block_red" pos="0.6 0 0.2">
+      <freejoint name="block_red" />
+      <geom type="box" size="0.025 0.025 0.025" rgba="0.8 0 0 1" />
+    </body>
+    <!-- </replicate> -->
   </worldbody>
 
   <keyframe>
     <key
       name="home"
       qpos="0 -0.7854 0 -2.3562 0 1.5707 0.7853 0 0
-            0 -0.7854 0 -2.3562 0 1.5707 0.7853 0 0"
+            0 -0.7854 0 -2.3562 0 1.5707 0.7853 0 0
+            0.5 0 0.2 1 0 0 0
+            0.6 0 0.2 1 0 0 0"
       qvel="0 0 0 0 0 0 0 0 0
-            0 0 0 0 0 0 0 0 0"
+            0 0 0 0 0 0 0 0 0
+            0 0 0 0 0 0
+            0 0 0 0 0 0"
       ctrl="0 -0.7854 0 -2.3562 0 1.5707 0.7853 0 0
             0 -0.7854 0 -2.3562 0 1.5707 0.7853 0 0"
     />
