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<mujoco model="plug_3"> |
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<asset> |
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<mesh file="body_base3.obj" name="body_mesh3" scale="0.001 0.001 0.001"/> |
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<mesh file="plug1_vis3.obj" name="plug1_vis3" scale="0.001 0.001 0.001"/> |
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<mesh file="plug2_vis3.obj" name="plug2_vis3" scale="0.001 0.001 0.001"/> |
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<mesh file="plug1_col3.obj" name="plug1_col3" scale="0.001 0.001 0.001"/> |
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<mesh file="plug2_col3.obj" name="plug2_col3" scale="0.001 0.001 0.001"/> |
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<material name="plug_3_material1" rgba="0.2 0.2 0.2 1" specular="0.5" shininess="0.506516455" /> |
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<material name="plug_3_material2" rgba="0.4 0.4 0.4 1" specular="0.5" shininess="0.506516455" /> |
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</asset> |
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<worldbody> |
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<body name="body_obj_plug_3" pos="0 0 0.86"> |
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<inertial pos="0 0 0.0" mass="2" diaginertia="0.01 0.01 0.01"/> |
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<freejoint /><body name="object_plug_3"> |
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<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"/> |
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<body name="plug_3_3"> |
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<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"/> |
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<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"/> |
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<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" /> |
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<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"/> |
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</body> |
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</body> |
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<site rgba="0 0 1 0" size="0.005" pos="0 0 -0.03" name="bottom_site_plug_3"/> |
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<site rgba="0 0 0 0" size="0.005" pos="0 0 0.1" name="top_site_plug_3"/> |
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<site rgba="0 0 0 0" size="0.005" pos="0.1 0 0" name="horizontal_radius_site_plug_3"/> |
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</body> |
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</worldbody> |
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</mujoco> |
