| <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> |