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<mujoco model="obj_apple">
<asset>
<texture type="2d" name="ycb-apple" file="ycb-apple.png" />
<material name="ycb-apple_mat" texture="ycb-apple" specular="0.5" shininess="0.5" />
<mesh file="ycb-apple.obj" />
</asset>
<worldbody>
<body name="obj_apple" pos="0 0 0">
<freejoint />
<body pos="0 0 0" euler="0 0 0">
<geom type="mesh" material="ycb-apple_mat" mesh="ycb-apple" class="visual_collision" />
<geom type="box" pos="0 0 -0.001" euler="0 0 0" size="0.02 0.02 0.0005" class="no_visual_collision"/>
<inertial pos="0 0 0" mass="1.5" diaginertia="0.01 0.01 0.01" />
</body>
</body>
</worldbody>
</mujoco> |