Baruch Tabanpour
22e4f7fc31
PiperOrigin-RevId: 684198925 Change-Id: I5f6575759729712550bcb8d7659aaa7a657c66fc
22 lines
1.2 KiB
XML
22 lines
1.2 KiB
XML
<!-- tests a box on a plane with quadratic frictionloss constraints -->
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<mujoco>
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<option iterations="10" ls_iterations="6"/>
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<asset>
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<texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>
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<texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
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<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="200 200" texture="texplane"/>
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</asset>
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<worldbody>
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<light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
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<geom conaffinity="1" condim="3" material="MatPlane" name="floor" pos="0 0 0" size="40 40 40" type="plane"/>
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<camera pos="-0.323 -4.170 2.949" xyaxes="1.000 -0.024 -0.000 0.010 0.427 0.904"/>
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<body name="peg" pos="0.0 0.0 0.02" euler="30 0 0">
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<joint type="free" stiffness="0" damping="0" frictionloss="0.005" armature="0"/>
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<geom mass="0.044" condim="6" friction="1 0.05 0.001" pos="0 0 0" size="0.048 0.01 0.01" type="box" name="red_peg" rgba="1 0 0 1"/>
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</body>
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</worldbody>
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<keyframe>
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<key name="home" qpos='0.00382621 -0.000816274 0.011149 0.992081 0.0959616 0.00580468 0.08083'/>
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</keyframe>
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</mujoco>
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