Yuval Tassa
f712eed4ce
PiperOrigin-RevId: 917817500 Change-Id: Ia3bd5e52e7c2eaa3f70c81352d82c130b1d357f6
23 lines
659 B
XML
23 lines
659 B
XML
<mujoco>
|
|
<option integrator="implicitfast" viscosity="1" sleep_tolerance="1e-2">
|
|
<flag sleep="enable"/>
|
|
</option>
|
|
|
|
<worldbody>
|
|
<geom type="plane" size="5 5 .01"/>
|
|
|
|
<!-- mocap body with a sphere -->
|
|
<body name="mocap_obstacle" pos="0 0 -.02" mocap="true">
|
|
<geom type="sphere" size=".04"/>
|
|
</body>
|
|
|
|
<!-- constrained flex on the floor, will go to sleep -->
|
|
<body name="flex_body" pos="0 0 0.01">
|
|
<flexcomp name="f1" type="grid" dim="1" count="3 1 1"
|
|
spacing=".05 .05 .05" radius=".01" mass="1">
|
|
<edge equality="true" solref="0.15 0.2"/>
|
|
</flexcomp>
|
|
</body>
|
|
</worldbody>
|
|
</mujoco>
|