simviz_config.xml

<!-- the redisPrefix parameter is optional, defaults to "sai2::interfaces" 
and is used to define the prefix of the redis keys used by the interface -->
<simvizConfiguration redisPrefix="cs225a">

	<!-- required -->
	<worldFilePath>${PROJECT_FOLDER}/world.urdf</worldFilePath>

	<!-- optional. default value is simviz, possible values are simviz, simOnly, vizOnly -->
	<mode>simviz</mode>

	<!-- optional. The following are the default values if one ore more are not specified -->
	<simParameters>
		<timestep>0.001</timestep>
		<speedupFactor>1.0</speedupFactor>
		<enableJointLimits>false</enableJointLimits>
		<enableGravityCompensation>true</enableGravityCompensation>
		<coeffFriction>2.0</coeffFriction>
		<collisionRestitution>0.0</collisionRestitution>
	</simParameters>

	<!-- optional. the following are the default values if one or more are not specified -->
	<logger>
		<logFolderName>simviz_log_files</logFolderName>
		<logFrequency>100</logFrequency>
		<startWithSimulation>false</startWithSimulation>
		<timestampInFilename>false</timestampInFilename>
	</logger>

	<!-- optional. If present, the robotName, linkName and filterCutoff are required. -->
	<!-- The origin represents the transformation between link frame and sensor frame and defaults to identity -->
	<forceSensor>
		<robotName>WALLE</robotName>
		<linkName>end-effector</linkName>
		<origin xyz="0.195 0.0 0.0782" rpy="0.0 0.0 0.0" />
		<filterCutoff>5.0</filterCutoff>
	</forceSensor>

	<environment>
        <model name="custom_box">
            <origin xyz="0.3 0.0 0.4" rpy="0 0 0" />
            <model dir="${CS225A_URDF_FOLDER}/custom_box" path="custom_box.urdf" name="custom_box" />
        </model>
    </environment>

</simvizConfiguration>