Yuval Tassa
769f37b653
PiperOrigin-RevId: 829361787 Change-Id: I6f64d8e25c4248cf32c18cd94d37ff5def78946e
41 lines
950 B
XML
41 lines
950 B
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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<body name="1" pos="0 0 .1">
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<freejoint/>
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<geom name="1" type="box" size=".1 .1 .1"/>
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</body>
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<body name="2" pos="0 0 .3">
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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"/>
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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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</body>
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</worldbody>
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<sensor>
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<contact reduce="maxforce" data="force"/>
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<contact geom1="1" geom2="2"/>
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<contact geom1="1" geom2="2" reduce="maxforce" data="force"/>
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<contact geom1="1" geom2="floor"/>
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<contact geom1="1" reduce="maxforce" data="force"/>
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<gyro site="2"/>
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<clock/>
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</sensor>
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</mujoco>
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