Saran Tunyasuvunakool
1913a02b40
PiperOrigin-RevId: 450374687 Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
109 lines
2.5 KiB
XML
109 lines
2.5 KiB
XML
<mujoco>
|
|
<option gravity="-4 4 -10">
|
|
<flag multiccd="enable"/>
|
|
</option>
|
|
|
|
<visual>
|
|
<quality shadowsize="8192"/>
|
|
<scale forcewidth="0.01" contactwidth="0.05" contactheight="0.05"/>
|
|
<map force="0.1"/>
|
|
</visual>
|
|
|
|
<size njmax="3000" nconmax="1000"/>
|
|
|
|
<asset>
|
|
<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"
|
|
scale=".05 .05 .05"/>
|
|
</asset>
|
|
|
|
<default>
|
|
<geom friction="0.4"/>
|
|
<default class="mesh_box">
|
|
<geom type="mesh" mesh="box"/>
|
|
</default>
|
|
<default class="primitive_box">
|
|
<geom type="box" size=".05 .05 .05" friction=".1"/>
|
|
</default>
|
|
</default>
|
|
|
|
<worldbody>
|
|
<light pos="1 -1 1" dir="-1 1 -1"/>
|
|
<geom type="box" size=".5 .5 .1" pos="-.4 .4 -.1" rgba=".5 .5 .8 1"/>
|
|
<geom type="box" size=".5 .1 .5" pos="-.4 .8 .4" rgba=".5 .5 .8 1"/>
|
|
<geom type="box" size=".1 .5 .5" pos="-.8 .4 .4" rgba=".5 .5 .8 1"/>
|
|
<body pos="-.4 .4 .1">
|
|
<freejoint/>
|
|
<geom class="mesh_box"/>
|
|
</body>
|
|
<body pos="-.5 .4 .1">
|
|
<freejoint/>
|
|
<geom class="mesh_box"/>
|
|
</body>
|
|
<body pos="-.6 .4 .1">
|
|
<freejoint/>
|
|
<geom class="mesh_box"/>
|
|
</body>
|
|
<body pos="-.4 .5 .1">
|
|
<freejoint/>
|
|
<geom class="mesh_box"/>
|
|
</body>
|
|
<body pos="-.5 .5 .1">
|
|
<freejoint/>
|
|
<geom class="mesh_box"/>
|
|
</body>
|
|
<body pos="-.6 .5 .1">
|
|
<freejoint/>
|
|
<geom class="mesh_box"/>
|
|
</body>
|
|
<body pos="-.4 .6 .1">
|
|
<freejoint/>
|
|
<geom class="mesh_box"/>
|
|
</body>
|
|
<body pos="-.5 .6 .1">
|
|
<freejoint/>
|
|
<geom class="mesh_box"/>
|
|
</body>
|
|
<body pos="-.6 .6 .1">
|
|
<freejoint/>
|
|
<geom class="mesh_box"/>
|
|
</body>
|
|
|
|
<body pos="-.4 .4 .2">
|
|
<freejoint/>
|
|
<geom class="mesh_box"/>
|
|
</body>
|
|
<body pos="-.5 .4 .2">
|
|
<freejoint/>
|
|
<geom class="mesh_box"/>
|
|
</body>
|
|
<body pos="-.6 .4 .2">
|
|
<freejoint/>
|
|
<geom class="mesh_box"/>
|
|
</body>
|
|
<body pos="-.4 .5 .2">
|
|
<freejoint/>
|
|
<geom class="mesh_box"/>
|
|
</body>
|
|
<body pos="-.5 .5 .2">
|
|
<freejoint/>
|
|
<geom class="mesh_box"/>
|
|
</body>
|
|
<body pos="-.6 .5 .2">
|
|
<freejoint/>
|
|
<geom class="mesh_box"/>
|
|
</body>
|
|
<body pos="-.4 .6 .2">
|
|
<freejoint/>
|
|
<geom class="mesh_box"/>
|
|
</body>
|
|
<body pos="-.5 .6 .2">
|
|
<freejoint/>
|
|
<geom class="mesh_box"/>
|
|
</body>
|
|
<body pos="-.6 .6 .2">
|
|
<freejoint/>
|
|
<geom class="mesh_box"/>
|
|
</body>
|
|
</worldbody>
|
|
</mujoco>
|