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<mujoco model="plug_3">
<asset>
<mesh file="body_base3.obj" name="body_mesh3" scale="0.001 0.001 0.001"/>
<mesh file="plug1_vis3.obj" name="plug1_vis3" scale="0.001 0.001 0.001"/>
<mesh file="plug2_vis3.obj" name="plug2_vis3" scale="0.001 0.001 0.001"/>
<mesh file="plug1_col3.obj" name="plug1_col3" scale="0.001 0.001 0.001"/>
<mesh file="plug2_col3.obj" name="plug2_col3" scale="0.001 0.001 0.001"/>
<!-- <mesh file="plug_small_2.obj" name="plug_3_mesh" scale="0.0015 0.0015 0.0015"/> -->
<material name="plug_3_material1" rgba="0.2 0.2 0.2 1" specular="0.5" shininess="0.506516455" />
<material name="plug_3_material2" rgba="0.4 0.4 0.4 1" specular="0.5" shininess="0.506516455" />
</asset>
<worldbody>
<body name="body_obj_plug_3" pos="0 0 0.86">
<inertial pos="0 0 0.0" mass="2" diaginertia="0.01 0.01 0.01"/>
<freejoint /><body name="object_plug_3">
<geom name="plug_3_1_geom" type="mesh" mesh="body_mesh3" material="plug_3_material1" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" density="5" friction="0.95 0.3 0.1"/>
<body name="plug_3_3">
<geom name="plug_3_2_geom" type="mesh" mesh="plug1_vis3" material="plug_3_material2" pos="0 0 0.0" contype="0" conaffinity="0" group="2"/>
<geom name="plug_3_3_geom" type="mesh" mesh="plug2_vis3" material="plug_3_material2" pos="0 0 0.0" contype="0" conaffinity="0" group="2"/>
<geom name="plug_3_4_geom" type="mesh" mesh="plug1_col3" group="3" pos="0 0 0.0" solimp="0.998 0.998 0.001" solref="0.001 1" density="5" friction="0.95 0.3 0.1" />
<geom name="plug_3_5_geom" type="mesh" mesh="plug2_col3" group="3" pos="0 0 0.0" solimp="0.998 0.998 0.001" solref="0.001 1" density="5" friction="0.95 0.3 0.1"/>
</body>
</body>
<site rgba="0 0 1 0" size="0.005" pos="0 0 -0.03" name="bottom_site_plug_3"/>
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.1" name="top_site_plug_3"/>
<site rgba="0 0 0 0" size="0.005" pos="0.1 0 0" name="horizontal_radius_site_plug_3"/>
</body>
</worldbody>
</mujoco> |