Yuval Tassa
d82f5ce5a4
PiperOrigin-RevId: 538513357 Change-Id: Id9eb910fe791cf898c712030cb2c0fc481389c91
43 lines
1.4 KiB
XML
43 lines
1.4 KiB
XML
<mujoco>
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<option cone="elliptic" timestep="1e-4" integrator="implicitfast"/>
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<visual>
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<global elevation="0"/>
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</visual>
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<asset>
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<texture name="grid" type="2d" builtin="checker" rgb1=".1 .2 .3" rgb2=".2 .3 .4" width="300" height="300"/>
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<material name="grid" texture="grid" texrepeat="8 8" reflectance=".2"/>
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<texture name="ball" type="cube" builtin="checker" rgb1=".3 .3 .3" rgb2="1 1 1" width="300" height="300"/>
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<material name="ball" texture="ball" texrepeat="8 8"/>
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</asset>
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<worldbody>
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<geom name="floor" size=".2 .2 .01" type="plane" material="grid"/>
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<geom name="wall" size=".2 .2 .01" type="plane" material="grid" pos=".2 0 .2" zaxis="-1 0 0"/>
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<light pos="0 0 .6"/>
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<light pos="-.6 0 .6" dir="1 0 -1"/>
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<body name="ball" pos="-.1 0 .2">
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<freejoint/>
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<geom name="ball" type="sphere" size=".02" material="ball" mass=".001"/>
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<body name="ballast">
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<joint type="ball" stiffness="0.1" damping=".0001"/>
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<geom name="ballast" type="sphere" size=".02" contype="0" conaffinity="0" mass=".01" group="3"/>
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</body>
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</body>
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</worldbody>
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<default>
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<pair solref="-100000 0" solreffriction="0 -10000"/>
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</default>
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<contact>
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<pair geom1="floor" geom2="ball"/>
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<pair geom1="wall" geom2="ball"/>
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</contact>
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<keyframe>
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<key name="throw" qvel="1.3 0 0 0 0 0 0 0 0"/>
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</keyframe>
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</mujoco>
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