Baruch Tabanpour
b09c1a977e
PiperOrigin-RevId: 678312872 Change-Id: I0d65d7c2d05a7b5103fa0be2233cbc5ba232817c
43 lines
2.2 KiB
XML
43 lines
2.2 KiB
XML
<mujoco model="convex_convex">
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<default>
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<geom friction="0.5 0.0 0.0"/>
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</default>
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<option solver="Newton" iterations="10" ls_iterations="6"/>
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<asset>
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<mesh name="tetrahedron" file="meshes/tetrahedron.stl" scale="0.4 0.4 0.4" />
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<mesh name="dodecahedron" file="meshes/dodecahedron.stl" scale="0.04 0.04 0.04" />
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<mesh name="pyramid" file="meshes/pyramid.stl" scale="0.4 0.4 0.4" />
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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="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
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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="60 60" texture="texplane"/>
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<material name="geom" texture="texgeom" texuniform="true"/>
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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="tetrahedron" pos="0.0 2.0 0.8">
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<joint axis="1 0 0" name="free1" pos="0 0 0" type="free"/>
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<geom name="tetrahedron" pos="0 0 0" type="mesh" mesh="tetrahedron" rgba="1 0 0 1"/>
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</body>
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<body name="dodecahedron" pos="0.0 2.0 1.8" euler="0.1 -0.1 45">
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<joint axis="1 0 0" name="free2" pos="0 0 0" type="free"/>
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<geom name="dodecahedron" pos="0 0 0" type="mesh" mesh="dodecahedron" rgba="0 1 0 1"/>
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</body>
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<body name="box" pos="0.0 2.0 2.5" euler="0.1 -0.1 45">
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<joint axis="1 0 0" name="free3" pos="0 0 0" type="free"/>
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<geom name="box1" pos="0 0 0" size="0.2 0.2 0.2" type="box" rgba="0 0 1 1"/>
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</body>
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<body name="pyramid" pos="0.0 2.0 3.0" euler="0.1 -0.1 45">
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<joint axis="1 0 0" name="free4" pos="0 0 0" type="free"/>
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<geom name="pyramid" pos="0 0 0" type="mesh" mesh="pyramid" rgba="1 0 1 1"/>
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</body>
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</worldbody>
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</mujoco>
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