| <mujoco> | |
| <compiler angle="radian" coordinate="local" meshdir="../stls/hand" texturedir="../textures"></compiler> | |
| <option timestep="0.002" iterations="20" apirate="200"> | |
| <flag warmstart="enable"></flag> | |
| </option> | |
| <include file="shared.xml"></include> | |
| <asset> | |
| <include file="shared_asset.xml"></include> | |
| <material name="material:object" specular="0" shininess="0.5" reflectance="0.0" rgba="0.46 0.81 0.88 1.0"></material> | |
| <material name="material:target" specular="0" shininess="0.5" reflectance="0.0" rgba="0.46 0.81 0.88 0.5"></material> | |
| </asset> | |
| <worldbody> | |
| <body name="object" pos="1 0.87 0.2" euler="-1 1 0"> | |
| <geom name="object" type="capsule" size="0.008 0.1" material="material:object" condim="4"></geom> | |
| <site name="object:center" pos="0 0 0" rgba="1 0 0 0" size="0.01 0.01 0.01"></site> | |
| <site name="object:top" pos="0 0 0.1" rgba="1 0 0 1" size="0.0081"></site> | |
| <site name="object:bottom" pos="0 0 -0.1" rgba="0 1 0 1" size="0.0081"></site> | |
| <joint name="object:joint" type="free" damping="0.01"></joint> | |
| </body> | |
| <light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false" pos="0 1 4" dir="0 0 -1" name="light0"></light> | |
| </worldbody> | |
| </mujoco> | |