Alessio Quaglino
2f10a7cb3b
PiperOrigin-RevId: 508330060 Change-Id: I16a5e70c5950178826a2a52a7a2005ef7f39ccfb
46 lines
1.5 KiB
XML
46 lines
1.5 KiB
XML
<!-- Copyright 2021 DeepMind Technologies Limited
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<mujoco model="Particle">
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<include file="scene.xml"/>
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<option solver="CG" tolerance="1e-6" timestep=".01"/>
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<size memory="10M"/>
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<visual>
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<map stiffness="100"/>
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</visual>
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<default>
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<default class="wall">
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<geom type="plane" size=".5 .5 .05"/>
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</default>
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</default>
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<worldbody>
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<geom name="+x" class="wall" zaxis="1 0 0" pos="-.5 0 -.25"/>
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<geom name="-x" class="wall" zaxis="-1 0 0" pos=".5 0 -.25"/>
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<geom name="+y" class="wall" zaxis="0 1 0" pos="0 -.5 -.25"/>
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<geom name="-y" class="wall" zaxis="0 -1 0" pos="0 .5 -.25"/>
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<composite type="particle" count="15 15 1" spacing="0.06" offset="0 0 .1">
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<geom type="ellipsoid" size=".025 .02 .015" rgba=".8 .2 .1 1"/>
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<joint kind="particle" type="slide" axis="1 0 0"/>
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<joint kind="particle" type="slide" axis="0 1 0"/>
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<joint kind="particle" type="hinge" axis="0 0 1"/>
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</composite>
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</worldbody>
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</mujoco>
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