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<?xml version='1.0' encoding='utf-8'?>
<mujoco model="apple_69">
<asset>
<mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0" />
<texture type="2d" name="image0" file="visual/image0.png" />
<material name="apple_u1_v1" texture="image0" specular="0.5" shininess="0.25" />
</asset>
<worldbody>
<body>
<body name="object">
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="apple_u1_v1" />
<!-- Using a cylinder to approximate the apple mesh -->
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="cylinder" size="0.03 0.025" group="0" rgba="0.8 0.8 0.8 0.0" /></body>
<site rgba="0 0 0 0" size="0.005" pos="-9.198630000000125e-05 -9.87755999999987e-05 -0.0343740733" name="bottom_site" />
<site rgba="0 0 0 0" size="0.005" pos="-9.198630000000125e-05 -9.87755999999987e-05 0.0348929217" name="top_site" />
<site rgba="0 0 0 0" size="0.005" pos="0.0295444884 0.029559425700000003 0.0002594242000000008" name="horizontal_radius_site" />
<joint armature="0" damping="0" limited="false" margin="0.01" name="root" pos="0 0 0" type="free" /></body>
</worldbody>
</mujoco> |