29 lines
1.7 KiB
XML
29 lines
1.7 KiB
XML
<mujoco model="ring_bar_objects">
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<worldbody>
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<body name="ring_block" pos="-0.12 0.90 0.47">
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<joint name="ring_block_joint" type="free" frictionloss="0.01" />
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<inertial pos="0 0 0" mass="0.03" diaginertia="0.001 0.001 0.001" />
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<geom name="ring_block_north" type="box" pos="0 0.025 0" size="0.034 0.009 0.009"
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contype="1" conaffinity="1" condim="4" solimp="2 1 0.01" solref="0.01 1"
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friction="4 0.05 0.001" rgba="1 0 0 1" />
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<geom name="ring_block_south" type="box" pos="0 -0.025 0" size="0.034 0.009 0.009"
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contype="1" conaffinity="1" condim="4" solimp="2 1 0.01" solref="0.01 1"
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friction="4 0.05 0.001" rgba="1 0 0 1" />
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<geom name="ring_block_east" type="box" pos="0.025 0 0" size="0.009 0.016 0.009"
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contype="1" conaffinity="1" condim="4" solimp="2 1 0.01" solref="0.01 1"
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friction="4 0.05 0.001" rgba="1 0 0 1" />
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<geom name="ring_block_west" type="box" pos="-0.025 0 0" size="0.009 0.016 0.009"
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contype="1" conaffinity="1" condim="4" solimp="2 1 0.01" solref="0.01 1"
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friction="4 0.05 0.001" rgba="1 0 0 1" />
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</body>
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<body name="bar_block" pos="0.12 0.90 0.47">
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<joint name="bar_block_joint" type="free" frictionloss="0.01" />
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<inertial pos="0 0 0" mass="0.015" diaginertia="0.0005 0.0005 0.0005" />
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<geom name="bar_block" type="box" pos="0 0 0" size="0.045 0.009 0.009"
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contype="1" conaffinity="1" condim="4" solimp="2 1 0.01" solref="0.01 1"
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friction="6 0.08 0.002" rgba="0 0.7 0.2 1" />
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</body>
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</worldbody>
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</mujoco>
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