| <mujoco model="obj_coke"> | |
| <asset> | |
| <texture type="2d" name="coke" file="coke_red.png" /> | |
| <material name="coke_mat" texture="coke" specular="0.5" shininess="0.5" /> | |
| <mesh file="coke_red.obj" /> | |
| </asset> | |
| <worldbody> | |
| <body name="obj_coke" pos="0 0 0" euler="0 0 0"> | |
| <joint type="free" /> | |
| <body pos="0 0 0" euler="1.57 0.0 0"> | |
| <geom type="mesh" material="coke_mat" mesh="coke_red" class="visual_collision" /> | |
| <geom type="box" pos="0 0 -0.001" euler="-1.57 0 0" size="0.025 0.025 0.0005" class="no_visual_collision"/> | |
| <inertial pos="0 0 0" mass="1.0" diaginertia="0.01 0.01 0.01" /> | |
| </body> | |
| </body> | |
| </worldbody> | |
| </mujoco> | |