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si-visual.xml
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<mujoco model="sbox-visual">
<!-- 定义材料 -->
<asset>
<!-- 主体白色 -->
<!-- <material name="white_material" rgba="1 1 1 1" specular="0.5" shininess="0.5"/> -->
<material name="white_material" rgba="1 1 1 1"/>
<!-- 边缘黑色 -->
<!-- <material name="black_edge" rgba="0 0 0 0.5" specular="0.1" shininess="0.1"/> -->
<material name="black_edge" rgba="0 0 0 0.5"/>
</asset>
<worldbody>
<body>
<body name="object">
<!-- 内部白色块 -->
<geom pos="0 0 0" type="box" size="0.019 0.019 0.019" material="white_material" conaffinity="0" contype="0" group="1" mass="0.0001"/>
<!-- 外部黑色半透明边缘 -->
<geom pos="0 0 0" type="box" size="0.02 0.02 0.02" material="black_edge" conaffinity="0" contype="0" group="2" mass="0.0001"/>
</body>
<site rgba="0 0 0 0" size="0" pos="0 0 0" name="bottom_site"/>
<site rgba="0 0 0 0" size="0" pos="0 0 0" name="top_site"/>
<site rgba="0 0 0 0" size="0" pos="0 0 0" name="horizontal_radius_site"/>
</body>
</worldbody>
</mujoco>