| <mujoco model="cleaning_brush_a01"> | |
| <compiler angle="radian" autolimits="true"/> | |
| <option timestep="0.002" integrator="implicitfast" cone="elliptic" impratio="10"/> | |
| <asset> | |
| <mesh name="cleaningBrush_01_obj_00_h0" vertex="-0.12176 -0.0001 0.14369 -0.12159 0.0001 0.13828 -0.12018 0.0001 0.14841 -0.11933 -0.00562 0.14169 -0.11907 -0.00427 0.13429 -0.11871 0.00608 0.13928 -0.11824 0.00506 0.14742 -0.11813 -0.0001 0.12959 -0.1174 -0.00592 0.14696 -0.11671 -0.0001 0.15206 -0.11451 -0.00841 0.13931 -0.11399 0.00852 0.1416 -0.11113 -0.00841 0.14682 -0.11072 -0.00461 0.15327 -0.1099 -0.0001 0.15508 -0.1066 0.00454 0.15424 -0.10067 -0.00011 0.15615 -0.09306 0.00324 0.15469 -0.08952 -0.00932 0.14858 -0.0869 -0.00588 0.15216 -0.08634 0.00935 0.14781 -0.07919 0.00011 0.15218 -0.07002 -0.00937 0.14182 -0.06914 0.00802 0.14353 -0.06785 0.00454 0.14621 -0.06708 0.00011 0.14729 -0.05733 -0.00369 0.14116 -0.05412 0.00809 0.13525 -0.04799 -0.00011 0.13614 -0.04679 -0.00788 0.13042 -0.04619 0.00665 0.13148 -0.04584 -0.00021 0.00875 -0.04307 0.01355 0.00808 -0.04163 -0.01194 0.00738 -0.03586 0.02483 0.00509 -0.03466 -0.00465 0.1223 -0.03053 -0.00011 0.11988 -0.02897 -0.03101 0.00423 -0.02586 0.03139 0.00423 -0.02232 0.03703 0.0069 -0.02053 0.01836 0.00134 -0.01912 -0.03663 0.00428 -0.01832 -0.03208 0.00224 -0.01604 -0.01059 0.00024 -0.00769 0.04162 0.00756 0.00307 -0.04202 0.00585 0.00352 -0.03897 0.00383 0.00406 0.04345 0.00832 0.00626 -0.03203 0.03958 0.00626 0.03203 0.03958 0.01385 -0.02908 0.03958 0.01619 0.02768 0.03958 0.01637 0.03883 0.00697 0.01674 -0.03596 0.00482 0.02395 -0.02965 0.00253 0.0295 -0.0195 0.00163 0.03046 0.02177 0.00239 0.03094 -0.02207 0.00298 0.03305 0.02356 0.00397 0.03382 -0.01335 0.04325 0.03382 0.01335 0.04325 0.03629 -0.01212 0.00491 0.03786 0.01144 0.00541 0.04018 0.00021 0.00576" 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="cleaningBrush_01_obj_00" pos="0 0 0" quat="1 0 0 0"> | |
| <freejoint name="cleaningBrush_01_obj_00_free"/> | |
| <geom type="mesh" mesh="cleaningBrush_01_obj_00_h0" group="3" mass="0.268768" friction="0.4 0.005 0.0001"/> | |
| </body> | |
| </worldbody> | |
| <contact> | |
| </contact> | |
| </mujoco> | |