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<mujoco model="plug_1">
<asset>
<mesh file="body_base.obj" name="base_mesh" scale="0.001 0.001 0.001"/>
<mesh file="plug1_vis.obj" name="plug1_vis" scale="0.001 0.001 0.001"/>
<mesh file="plug2_vis.obj" name="plug2_vis" scale="0.001 0.001 0.001"/>
<mesh file="plug1_collision.obj" name="plug1_col" scale="0.001 0.001 0.001"/>
<mesh file="plug2_collision.obj" name="plug2_col" scale="0.001 0.001 0.001"/>
<material name="plug_1_material1" rgba="0.6 0.6 0.6 1" specular="0.5" shininess="0.506516455" />
<material name="plug_1_material2" rgba="0.4 0.4 0.4 1" specular="0.5" shininess="0.506516455" />
</asset>
<worldbody>
<body name="body_obj_plug_1" pos="0 0 0.86">
<inertial pos="0 0 0.01" mass="2" diaginertia="0.01 0.01 0.01"/>
<freejoint />
<body name="object_plug_1">
<geom name="plug_1_1_geom" type="mesh" mesh="base_mesh" material="plug_1_material1" pos="0 0 0" density="500" solimp="0.998 0.998 0.001" solref="0.001 1" friction="0.95 0.3 0.1"/>
<geom name="plug_1_2_geom" type="mesh" mesh="plug1_vis" contype="0" conaffinity="0" material="plug_1_material2" pos="0 0 0.0" density="500" solimp="0.998 0.998 0.001" solref="0.001 1" friction="0.95 0.3 0.1" group="2"/>
<geom name="plug_1_3_geom" type="mesh" mesh="plug2_vis" contype="0" conaffinity="0" material="plug_1_material2" pos="0 0 0.0" density="500" solimp="0.998 0.998 0.001" solref="0.001 1" friction="0.95 0.3 0.1" group="2"/>
<geom name="plug_1_4_geom" type="mesh" mesh="plug1_col" pos="0 0 0.0" density="500" solimp="0.998 0.998 0.001" solref="0.001 1" friction="0.95 0.3 0.1" group="3"/>
<geom name="plug_1_5_geom" type="mesh" mesh="plug2_col" pos="0 0 0.0" density="500" solimp="0.998 0.998 0.001" solref="0.001 1" friction="0.95 0.3 0.1" group="3"/>
</body>
<site rgba="1 0 0 0" size="0.005" pos="0 0 -0.03" name="bottom_site_plug_1"/>
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.1" name="top_site_plug_1"/>
<site rgba="0 0 0 0" size="0.005" pos="0.1 0 0" name="horizontal_radius_site_plug_1"/>
</body>
</worldbody>
</mujoco> |