| <mujoco model="white_storage_box"> | |
| <asset> | |
| <texture file="ceramic.png" name="tex-white_storage_box" type="2d" /> | |
| <material name="white_storage_box" reflectance="0.5" texrepeat="1 1" texture="tex-white_storage_box" texuniform="false" /> | |
| <mesh file="visual/white_storage_box_vis.msh" name="white_storage_box_vis" scale="0.01 0.005 0.01" /></asset> | |
| <worldbody> | |
| <body name="body_obj_white_storage_box"><freejoint /> | |
| <inertial pos="0 0 0" mass="10.0" diaginertia="0.01 0.01 0.01"/> | |
| <body name="object"> | |
| <site type="box" pos="0.00000 -0.14250 0.0" size="0.06425 0.07137 0.3 " group="0" rgba="0.8 0.8 0.0 0" name="inside_region_white_storage_box"/> | |
| <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00629 -0.06550 -0.0299" size="0.06550 0.06550 0.001" group="1" material="white_storage_box"/> | |
| <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="white_storage_box_vis" conaffinity="0" contype="0" group="2" material="white_storage_box" euler="1.57 0 0" /> | |
| <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.06420 -0.07137 -0.00000 " size="0.00629 0.06550 0.03" group="3" rgba="0.8 0.8 0.8 0.3" /> | |
| <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00072 -0.00629 0.00000" size="0.06550 0.00629 0.03" group="3" rgba="0.8 0.8 0.8 0.3" /> | |
| <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00072 -0.13522 -0.00000" size="0.06550 0.00629 0.03" group="3" rgba="0.8 0.8 0.8 0.3" /> | |
| <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.06392 -0.07137 0.0" size="0.00629 0.06550 0.03" group="3" rgba="0.8 0.8 0.8 0.3" /></body> | |
| <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" /> | |
| <site rgba="0 0 0 0" size="0.15 0.15 0.01" pos="0 0 0.04" name="top_site_white_storage_box" /> | |
| <site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" /> | |
| </body> | |
| </worldbody> | |
| </mujoco> | |