| <mujoco model="flat_rectangle"> | |
| <asset> | |
| <texture name="flat_rectangle_tex" type="2d" file="texture.png" width="500" height="500"/> | |
| <material name="flat_rectangle_mat" texture="flat_rectangle_tex" specular="0.5"/> | |
| </asset> | |
| <worldbody> | |
| <body name="body_obj_flat_rectangle" pos="0.3 0 0.8"> | |
| <!-- <inertial pos="0 0 0" mass="100000.0" diaginertia="0.01 0.01 0.01"/> | |
| <freejoint/> --> | |
| <body name="object_flat_rectangle"> | |
| <geom name="visual_geom" type="box" size="0.08 0.08 0.001" material="flat_rectangle_mat" contype="0" conaffinity="0" group="2"/> | |
| <geom name="visual_geom2" type="box" size="0.08 0.08 0.001" pos="0.0 -0.16 0.0" material="flat_rectangle_mat" contype="0" conaffinity="0" group="2"/> | |
| <!-- <geom name="collision_geom" type="box" size="0.05 0.05 0.002" rgba="0.1 0.1 0.7 1" contype="1" conaffinity="1" group="2"/> --> | |
| </body> | |
| <site name="bottom_site_flat_rectangle" pos="0 0 -0.01" size="0.01" rgba="1 0 0 0"/> | |
| <site name="top_site_flat_rectangle" pos="0 -0.08 0.00" size="0.05 0.05 0.05" rgba="1 1 1 0"/> | |
| <site name="top_site_flat_rectangle_right" pos="0 0 0.00" size="0.05 0.05 0.05" rgba="1 0 1 0"/> | |
| <site name="top_site_flat_rectangle_left" pos="0 -0.16 0.00" size="0.05 0.05 0.05" rgba="1 0 1 0"/> | |
| <site name="horizontal_radius_site_flat_rectangle" pos="-0.25 0 0" size="0.01" rgba="1 0 0 0"/> | |
| </body> | |
| </worldbody> | |
| </mujoco> | |