Yuval Tassa
f712eed4ce
PiperOrigin-RevId: 917817500 Change-Id: Ia3bd5e52e7c2eaa3f70c81352d82c130b1d357f6
23 lines
676 B
XML
23 lines
676 B
XML
<mujoco>
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<option integrator="implicitfast" viscosity="2" sleep_tolerance="0.1">
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<flag sleep="enable"/>
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</option>
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<worldbody>
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<geom type="plane" size="5 5 .01"/>
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<!-- static body (no joint) with a sphere touching the flex -->
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<body name="static_obstacle" pos="0 0 0.05">
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<geom type="sphere" size=".04"/>
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</body>
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<!-- constrained flex on the floor, will go to sleep -->
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<body name="flex_body" pos="0 0 0.01">
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<flexcomp name="f1" type="grid" dim="1" count="3 1 1"
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spacing=".05 .05 .05" radius=".01" mass="1">
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<edge equality="true" solref="0.15 0.2"/>
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</flexcomp>
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</body>
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</worldbody>
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</mujoco>
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