-
Notifications
You must be signed in to change notification settings - Fork 745
Expand file tree
/
Copy pathlego_brick.xml
More file actions
24 lines (21 loc) · 1.86 KB
/
lego_brick.xml
File metadata and controls
24 lines (21 loc) · 1.86 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
<mujoco model='brick_model'>
<asset>
<material name='transparent' rgba='0 0 0 0' reflectance='.0'/>
<material name='solid_color' rgba='1 0 0 1' reflectance='.0'/>
</asset>
<worldbody>
<body name='body' pos='-0.8 -0.8 0.06'>
<geom name='main_hull' type='box' pos='0 0 0.0132' size='0.016 0.016 0.013' mass='0.0' friction='1 1' contype='0' material='transparent'/>
<geom name='main_t' type='box' pos='0 0 0.01165' size='0.0159 0.0159 0.00765' mass='1e-6' conaffinity='2' contype='2' material='solid_color'/>
<geom name='wall_lx' type='box' pos='-0.0144 0 0.002' size='0.0015 0.0159 0.002' mass='0.0' conaffinity='2' contype='0' material='solid_color' />
<geom name='wall_rx' type='box' pos='0.0144 0 0.0025' size='0.0015 0.0159 0.002' mass='0.0' conaffinity='2' contype='0' material='solid_color' />
<geom name='wall_ly' type='box' pos='0 -0.0144 0.002' size='0.0159 0.0015 0.002' mass='0.0' conaffinity='2' contype='0' material='solid_color' />
<geom name='wall_ry' type='box' pos='0 0.0144 0.0025' size='0.0159 0.0015 0.002' mass='0.0' conaffinity='2' contype='0' material='solid_color' />
<geom name='knob_ll' type='cylinder' size='0.004 0.002' pos='+0.008 +0.008 0.0213' mass='0.01' conaffinity='0' contype='2' material='solid_color' />
<geom name='knob_lr' type='cylinder' size='0.004 0.002' pos='+0.008 -0.008 0.0213' mass='0.01' conaffinity='0' contype='2' material='solid_color' />
<geom name='knob_rl' type='cylinder' size='0.004 0.002' pos='-0.008 +0.008 0.0213' mass='0.01' conaffinity='0' contype='2' material='solid_color' />
<geom name='knob_rr' type='cylinder' size='0.004 0.002' pos='-0.008 -0.008 0.0213' mass='0.01' conaffinity='0' contype='2' material='solid_color' />
<site name='target' type='sphere' pos='0 0 0.01' size='.01' euler='0 0 0' rgba='.5 .5 .5 .3'/>
</body>
</worldbody>
</mujoco>