| <mujoco model="cleaning_abrasivePowder_a01"> | |
| <compiler angle="radian" autolimits="true"/> | |
| <option timestep="0.002" integrator="implicitfast" cone="elliptic" impratio="10"/> | |
| <asset> | |
| <mesh name="body_01_obj_01_h0" vertex="-0.0332 0 0.17743 -0.03292 -0.00433 0.17743 -0.03256 0.00648 0.001 -0.03251 0 0.00011 -0.03247 -0.00427 0.17818 -0.03207 -0.00859 0.001 -0.03144 0.01067 0.17743 -0.03067 -0.01271 0.17743 -0.03026 0.01253 0.00024 -0.02836 -0.01637 0.17818 -0.02836 0.01637 0.17818 -0.02761 -0.01845 0.001 -0.02761 -0.01845 0.17743 -0.02634 0.02021 0.001 -0.02598 0.01994 0.00024 -0.02462 -0.02159 0.00024 -0.02348 -0.02348 0.001 -0.02348 0.02348 0.001 -0.02189 0.02496 0.17743 -0.02159 0.02462 0.17818 -0.01845 -0.02761 0.17743 -0.01637 0.02836 0.00024 -0.01448 -0.02937 0.17818 -0.01271 -0.03067 0.001 -0.01067 0.03144 0.17743 -0.01053 -0.03101 0.17818 -0.00859 0.03207 0.001 -0.00648 -0.03256 0.17743 -0.00639 -0.03212 0.00024 -0.00432 0.03278 0.17782 -0.00217 -0.03313 0.001 0 0.03275 0.00024 0.00217 -0.03313 0.17743 0.0043 0.03264 0.17801 0.00634 -0.03189 0.00011 0.00648 -0.03256 0.001 0.00859 0.03207 0.001 0.01053 -0.03101 0.17818 0.01053 0.03101 0.00024 0.01468 -0.02978 0.001 0.01468 0.02978 0.001 0.01468 0.02978 0.17743 0.01845 -0.02761 0.17743 0.01994 -0.02598 0.00024 0.02159 0.02462 0.17818 0.02189 0.02496 0.001 0.02189 0.02496 0.17743 0.02279 -0.02279 0.1784 0.02462 0.02159 0.00024 0.02623 0.02013 0.17782 0.02761 -0.01845 0.001 0.02836 -0.01637 0.00024 0.02875 -0.0166 0.17743 0.02937 0.01448 0.00024 0.02978 0.01468 0.001 0.03101 -0.01053 0.17818 0.03101 0.01053 0.17818 0.03144 -0.01067 0.001 0.03247 -0.00427 0.00024 0.03261 -0.00649 0.17701 0.03285 -0.00215 0.17801 0.03292 0.00433 0.001 0.03296 0.00434 0.17701 0.03313 -0.00217 0.001" inertia="convex"/> | |
| </asset> | |
| <worldbody> | |
| <light pos="0 0 4" dir="0 0 -1"/> | |
| <geom name="floor" type="plane" size="10 10 0.1"/> | |
| <body name="body_01_obj_01" pos="0 0 0" quat="1 0 0 0"> | |
| <freejoint name="body_01_obj_01_free"/> | |
| <geom type="mesh" mesh="body_01_obj_01_h0" group="3" mass="3.56121" friction="0.4 0.005 0.0001"/> | |
| </body> | |
| </worldbody> | |
| <contact> | |
| </contact> | |
| </mujoco> | |