Yuval Tassa
a4e49f2dff
PiperOrigin-RevId: 914329812 Change-Id: I905665e4c1965bdb8b90587e5b1277cfbfe5cce0
37 lines
1.3 KiB
XML
37 lines
1.3 KiB
XML
<mujoco>
|
|
<!-- This model leads to bad contacts from mjc_BoxBox -->
|
|
|
|
<default>
|
|
<geom rgba="1 1 1 1" gap="1e-3"/>
|
|
<site type="sphere" rgba="0 0 0 0" size="0.001"/>
|
|
</default>
|
|
|
|
<worldbody>
|
|
<light diffuse="1 1 1" pos="-5 -17.5 15" dir="0.24 0.84 -0.48"/>
|
|
<camera name="fixed" pos="0 -25 8" euler="90 0 0"/>
|
|
<geom name="ground" pos="0 0 0" quat="1 0 0 0" rgba="0.770 0.670 0.490 1" size="50 50 1" type="plane"/>
|
|
<body name="block01" pos="-0.9 0 1.5" quat="1 0 0 0">
|
|
<freejoint/>
|
|
<geom mass="1" name="geom01" rgba="0.5 0 0 1" size="0.5 0.5 1.5" type="box"/>
|
|
</body>
|
|
<body name="block02" pos="-0.7 0 3.5" quat="1 0 0 0">
|
|
<freejoint/>
|
|
<geom mass="1" name="geom02" rgba="0.5 0 0.350 1" size="1.5 0.5 0.5" type="box"/>
|
|
</body>
|
|
<body name="block03" pos="0.3 0 5.5" quat="1 0 0 0">
|
|
<freejoint/>
|
|
<geom mass="1" name="geom03" rgba="0 0.5 0.450 1" size="0.5 0.5 1.5" type="box"/>
|
|
</body>
|
|
<body name="block04" pos="0.200 1e-9 7.5" quat="1 0 0 0">
|
|
<freejoint/>
|
|
<geom mass="1" name="geom04" rgba="0 0.5 0.099 1" size="1.5 0.5 0.5" type="box"/>
|
|
</body>
|
|
</worldbody>
|
|
|
|
<contact>
|
|
<exclude body1="world" body2="block01"/>
|
|
<exclude body1="block03" body2="block02"/>
|
|
</contact>
|
|
|
|
</mujoco>
|