Yuval Tassa
7feecf6e94
PiperOrigin-RevId: 506051745 Change-Id: If666757deb743f7bf3af4113d10976c3294e0879
27 lines
820 B
XML
27 lines
820 B
XML
<mujoco>
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<worldbody>
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<light pos="0 0 3"/>
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<geom type="plane" size="1 1 .01"/>
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<body pos="0 0 1" quat="0 0.534522 0.801784 0.267261">
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<freejoint/>
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<geom type="box" size="0.15 0.1 0.05" pos="0.15 0.1 0.05" euler="30 30 30" rgba="1 0 0 1"/>
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</body>
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<body pos="0 0 2" quat="0 0.534522 0.801784 0.267261">
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<freejoint/>
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<geom type="box" size="0.15 0.1 0.05" rgba="0 0 1 1"/>
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</body>
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<body pos="-.5 -.5 .5" mocap="true" quat=".1 .2 .3 .4">
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<geom type="box" size="0.15 0.1 0.05" pos="0.15 0.1 0.05" euler="30 30 30" rgba="0 .7 0 1"/>
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</body>
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<!-- TODO(b/266543914): Fix force perurbation on ball joints -->
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<body pos=".5 -.5 .5" >
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<joint type="ball" damping="10"/>
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<geom type="box" size="0.1 0.1 0.1"/>
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</body>
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</worldbody>
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</mujoco>
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