| <mujoco model="drum_plastic_blue_a01"> | |
| <compiler angle="radian" autolimits="true"/> | |
| <option timestep="0.002" integrator="implicitfast" cone="elliptic" impratio="10"/> | |
| <asset> | |
| <mesh name="sm_drum_a01_obj_00_h0" vertex="-0.13854 -0.00659 0.37633 -0.13783 -0.02002 0.0122 -0.13779 0.02024 0.0122 -0.13694 0.02693 0.37503 -0.1293 -0.05254 0.37501 -0.12743 0.05202 0.00955 -0.12631 -0.05867 0.0122 -0.12352 0.06498 0.37503 -0.12144 0.0001 0.00112 -0.11264 -0.08602 0.08723 -0.1114 -0.08082 0.00955 -0.11118 -0.0808 0.37465 -0.10892 0.08776 0.015 -0.10873 0.0875 0.37503 -0.10747 0.05653 0.00112 -0.09474 0.10208 0.0122 -0.09095 -0.08047 0.00112 -0.08457 -0.11065 0.0122 -0.07934 0.1152 0.3735 -0.07908 -0.11507 0.35503 -0.06755 0.12179 0.0122 -0.05562 -0.12768 0.0122 -0.03939 0.13166 0.3772 -0.03713 -0.13587 0.32877 -0.03643 0.13442 0.0122 -0.03177 0.1172 0.00112 -0.02748 -0.13903 0.08723 -0.02702 0.13913 0.3065 -0.00043 -0.14117 0.32157 -0.00043 -0.12151 0.00074 -0.00043 -0.0135 0.3862 -0.00043 0.14022 0.34175 0.00043 -0.1396 0.01205 0.00043 0.06996 0.38622 0.00043 0.1396 0.01205 0.00344 -0.11638 0.36442 0.0299 0.13602 0.0122 0.03 -0.13432 0.00955 0.03713 -0.13587 0.32877 0.03781 0.13478 0.37268 0.04837 0.11138 0.00112 0.05541 0.12777 0.0122 0.06172 0.12518 0.37503 0.06695 -0.12025 0.00955 0.07908 -0.11507 0.35503 0.09474 0.10208 0.0122 0.09494 0.1023 0.37503 0.09817 0.07147 0.00112 0.09829 -0.07131 0.00112 0.10431 -0.09229 0.0122 0.10873 0.0875 0.37503 0.11259 0.08197 0.0122 0.11372 -0.07439 0.37668 0.11655 -0.07624 0.0122 0.1168 -0.07641 0.37377 0.1242 -0.00589 0.00224 0.1293 -0.05254 0.37501 0.13141 -0.04613 0.0122 0.13361 0.03306 0.00955 0.1337 0.04002 0.37503 0.13402 0.04004 0.015 0.1389 0.01359 0.37503 0.13912 -0.00654 0.0122 0.13941 -0.00663 0.37503" 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="sm_drum_a01_obj_00" pos="0 0 0.0004" quat="1 0 0 0"> | |
| <freejoint name="sm_drum_a01_obj_00_free"/> | |
| <geom type="mesh" mesh="sm_drum_a01_obj_00_h0" group="3" mass="0.175259" friction="0.45 0.005 0.0001"/> | |
| </body> | |
| </worldbody> | |
| <contact> | |
| </contact> | |
| </mujoco> | |