| <mujoco model="handle"> | |
| <compiler boundmass="0.01" boundinertia="0.0001" /> | |
| <worldbody> | |
| <body name="handle" pos="0.0 0.0 0.0"> | |
| <inertial pos="0 0 0" mass="0.2" diaginertia="0.01 0.01 0.01" /> | |
| <joint name="handle_joint" type="slide" axis="1 0 0" range="-0.5 0" limited="true" | |
| damping="0.1" /> | |
| <geom type="box" name="handle" size="0.01 0.08 0.01" condim="3" | |
| friction="1 .03 .003" rgba="0 1 0 1" contype="2" conaffinity="1" solref="0.01 1" /> | |
| <geom type="box" name="shelf" size="0.1 0.2 0.01" pos="0.03 0 0" zaxis="-1 0 0" | |
| condim="3" | |
| friction="1 .03 .003" rgba="0 1 0 0.2" contype="2" conaffinity="1" solref="0.01 1" /> | |
| </body> | |
| </worldbody> | |
| </mujoco> |