Yuval Tassa
7caa3d6703
PiperOrigin-RevId: 837611931 Change-Id: Ib077765d795037bdd0d32d19e1c7d5bf9b256d51
65 lines
2.1 KiB
XML
65 lines
2.1 KiB
XML
<mujoco>
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<custom>
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<numeric name="duration" data="2.0"/>
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</custom>
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<option>
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<flag sleep="enable" warmstart="disable"/>
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</option>
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<worldbody>
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<light pos="0 -1 3"/>
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<geom name="floor" type="plane" size="1 1 .01"/>
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<site name="inside" type="box" size=".5 .5 .5" rgba="0 0 0 0"/>
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<body name="force_static" pos="0 0 .025">
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<geom name="0" type="box" size=".15 .15 .025"/>
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<site name="force_static"/>
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</body>
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<body name="1" pos="0 0 .15">
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<freejoint/>
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<geom name="1" type="box" size=".1 .1 .05" pos="0 0 .05"/>
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<body name="force_dynamic" pos="0 0 -.05">
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<geom name="1_bottom" type="box" size=".1 .1 .05"/>
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<site name="force_dynamic"/>
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</body>
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</body>
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<body name="2" pos="0 0 .35">
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<freejoint/>
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<geom name="2" type="box" size=".1 .1 .1"/>
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<site name="2" type="box" size=".11 .11 .11" rgba=".5 .7 .5 .2"/>
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</body>
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<body name="3" pos="0 0 1.2" euler="10 20 30">
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<freejoint/>
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<geom name="3" type="box" size=".1 .1 .1"/>
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<site name="rf" type="cylinder" size=".01 .03" pos="0 0 -.11" zaxis="0 0 -1"/>
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</body>
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</worldbody>
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<sensor>
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<!-- for most sensors, expect match between sleep enabled/disabled -->
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<contact subtree1="1" geom2="2"/>
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<contact subtree1="1" geom2="2" reduce="maxforce" data="force"/>
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<contact subtree1="1" geom2="floor"/>
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<contact subtree1="1"/>
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<contact subtree1="1" reduce="maxforce" data="force"/>
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<insidesite name="insidesite" site="inside" objtype="body" objname="3"/>
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<framelinvel objtype="body" objname="3"/>
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<framelinvel objtype="body" objname="3" reftype="body" refname="2"/>
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<gyro name="gyro" site="2"/>
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<touch name="touch" site="2"/>
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<clock name="clock"/>
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<rangefinder site="rf"/>
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<force site="force_dynamic"/>
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<!-- sensors marked with user="1": expect mismatch between sleep enabled/disabled -->
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<contact user="1" reduce="maxforce" data="force"/>
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<contact user="1" geom1="floor"/>
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<contact user="1" site="2"/>
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<force user="1" site="force_static"/>
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</sensor>
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</mujoco>
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