Yuval Tassa
5004a4c8c5
- Memory heuristic rounds up to the nearest MB. - `simulate` reports total memory currently allocated in the info box. - All example models use `<size memory/>` rather than legacy attributes. - Regenerated `example_saved.xml` and reformatted original model in [overview chapter](https://mujoco.readthedocs.io/en/latest/overview.html?#examples). - `<size>` top-level section does not get written if empty. PiperOrigin-RevId: 486702670 Change-Id: I0306e335f32344c59562ba606664ec9d2101f8a8
109 lines
2.5 KiB
XML
109 lines
2.5 KiB
XML
<mujoco>
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<option gravity="-4 4 -10">
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<flag multiccd="enable"/>
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</option>
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<visual>
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<quality shadowsize="8192"/>
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<scale forcewidth="0.01" contactwidth="0.05" contactheight="0.05"/>
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<map force="0.1"/>
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</visual>
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<size memory="100M"/>
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<asset>
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<mesh name="box" vertex="-1 -1 -1 1 -1 -1 1 1 -1 1 1 1 1 -1 1 -1 1 -1 -1 1 1 -1 -1 1"
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scale=".05 .05 .05"/>
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</asset>
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<default>
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<geom friction="0.4"/>
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<default class="mesh_box">
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<geom type="mesh" mesh="box"/>
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</default>
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<default class="primitive_box">
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<geom type="box" size=".05 .05 .05" friction=".1"/>
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</default>
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</default>
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<worldbody>
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<light pos="1 -1 1" dir="-1 1 -1"/>
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<geom type="box" size=".5 .5 .1" pos="-.4 .4 -.1" rgba=".5 .5 .8 1"/>
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<geom type="box" size=".5 .1 .5" pos="-.4 .8 .4" rgba=".5 .5 .8 1"/>
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<geom type="box" size=".1 .5 .5" pos="-.8 .4 .4" rgba=".5 .5 .8 1"/>
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<body pos="-.4 .4 .1">
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<freejoint/>
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<geom class="mesh_box"/>
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</body>
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<body pos="-.5 .4 .1">
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<freejoint/>
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<geom class="mesh_box"/>
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</body>
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<body pos="-.6 .4 .1">
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<freejoint/>
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<geom class="mesh_box"/>
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</body>
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<body pos="-.4 .5 .1">
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<freejoint/>
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<geom class="mesh_box"/>
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</body>
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<body pos="-.5 .5 .1">
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<freejoint/>
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<geom class="mesh_box"/>
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</body>
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<body pos="-.6 .5 .1">
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<freejoint/>
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<geom class="mesh_box"/>
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</body>
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<body pos="-.4 .6 .1">
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<freejoint/>
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<geom class="mesh_box"/>
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</body>
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<body pos="-.5 .6 .1">
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<freejoint/>
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<geom class="mesh_box"/>
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</body>
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<body pos="-.6 .6 .1">
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<freejoint/>
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<geom class="mesh_box"/>
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</body>
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<body pos="-.4 .4 .2">
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<freejoint/>
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<geom class="mesh_box"/>
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</body>
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<body pos="-.5 .4 .2">
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<freejoint/>
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<geom class="mesh_box"/>
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</body>
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<body pos="-.6 .4 .2">
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<freejoint/>
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<geom class="mesh_box"/>
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</body>
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<body pos="-.4 .5 .2">
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<freejoint/>
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<geom class="mesh_box"/>
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</body>
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<body pos="-.5 .5 .2">
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<freejoint/>
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<geom class="mesh_box"/>
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</body>
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<body pos="-.6 .5 .2">
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<freejoint/>
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<geom class="mesh_box"/>
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</body>
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<body pos="-.4 .6 .2">
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<freejoint/>
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<geom class="mesh_box"/>
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</body>
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<body pos="-.5 .6 .2">
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<freejoint/>
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<geom class="mesh_box"/>
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</body>
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<body pos="-.6 .6 .2">
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<freejoint/>
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<geom class="mesh_box"/>
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</body>
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</worldbody>
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</mujoco>
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