| <mujoco model="object"> | |
| <asset> | |
| <material name="black" rgba="0.1 0.1 0.1 1"/> | |
| <material name="object_material" rgba="0.67 0.73 0.78 1"/> | |
| </asset> | |
| <default> | |
| <default class="visual"> | |
| <geom contype="0" conaffinity="0" group="2" material="black"/> | |
| </default> | |
| <default class="collision"> | |
| <geom group="3" mass="1" density="0"/> | |
| </default> | |
| </default> | |
| <worldbody> | |
| <body name="object" pos="0.5 -0.3 1" euler='-0 0 -0'> | |
| <!-- <freejoint name="free_object"/> --> | |
| <inertial pos="0 0 0" mass="0.3" diaginertia="0.001 0.001 0.001"/> | |
| <geom name="object" type="box" size=".1 .1 .1" rgba="0.67 0.73 0.78 1" class="visual" material="object_material"/> | |
| <geom name="object_collision" type="box" size=".1 .1 .1" class="collision"/> | |
| </body> | |
| </worldbody> | |
| </mujoco> | |