Yuval Tassa
576a34bcf2
PiperOrigin-RevId: 783020713 Change-Id: I0d11ccc4e1fd16d07e6f116d64a26485346d9cf1
32 lines
1.0 KiB
XML
32 lines
1.0 KiB
XML
<mujoco model="contact net">
|
|
<statistic meansize="0.05"/>
|
|
|
|
<default>
|
|
<geom condim="6"/>
|
|
</default>
|
|
|
|
<worldbody>
|
|
<light pos="0 0 3"/>
|
|
<geom name="floor" type="plane" size=".5 1 .01"/>
|
|
|
|
<body name="b1" pos="0 0 .4" euler="5 5 5">
|
|
<freejoint/>
|
|
<geom type="box" pos="0 0 .06" size=".15 .15 .03" rgba=".8 .2 .1 .2"/>
|
|
<geom type="box" pos="-.05 0 .005" size=".04 .04 .025" rgba=".8 .2 .1 1" euler="1 1 1"/>
|
|
<geom size=".05" pos=".1 -.1 .04" rgba=".8 .2 .1 1"/>
|
|
</body>
|
|
|
|
<body name="b2" pos="0 0 .2">
|
|
<joint type="ball" springdamper="0.1 1"/>
|
|
<geom type="box" size=".2 .2 .05" rgba=".8 .2 .1 1"/>
|
|
<geom size=".05" pos=".1 .1 .05" rgba=".8 .2 .1 1"/>
|
|
<geom type="box" size=".05 .05 .01" pos=".1 -.1 .06" rgba=".8 .2 .1 1" euler="2 2 2"/>
|
|
</body>
|
|
</worldbody>
|
|
|
|
<sensor>
|
|
<contact name="net12" body1="b1" body2="b2" data="force torque pos" reduce="netforce"/>
|
|
<contact name="net21" body1="b2" body2="b1" data="force torque pos" reduce="netforce"/>
|
|
</sensor>
|
|
</mujoco>
|