Yuval Tassa
769f37b653
PiperOrigin-RevId: 829361787 Change-Id: I6f64d8e25c4248cf32c18cd94d37ff5def78946e
41 lines
1.5 KiB
XML
41 lines
1.5 KiB
XML
<mujoco>
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<option viscosity="30" integrator="implicit">
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<flag gravity="disable" constraint="disable" contact="disable" energy="enable" sleep="enable"/>
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</option>
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<worldbody>
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<replicate offset="0 0 2.5" count="7">
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<replicate offset="4 0 0" count="7">
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<replicate offset="0 2 0" count="7">
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<body sleep="init">
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<geom size=".4"/>
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<freejoint/>
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<body pos="-.4 0 0">
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<geom type="cylinder" size="0.1" fromto="0 0 0 0 0 1"/>
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<joint type="slide" axis="0 0 1" springref="0.2" stiffness="1000" damping="100"/>
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</body>
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</body>
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<body pos="1 0 0" sleep="init">
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<geom type="capsule" size="0.1" fromto="0 0 0 0 0 1"/>
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<joint axis="1 0 0" stiffness="300" damping="30"/>
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<body pos="0 0 1">
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<geom type="capsule" size="0.1" fromto="0 0 0 0 0 1"/>
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<joint axis="1 0 0" springref="45" stiffness="300" damping="30"/>
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</body>
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</body>
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<body pos="2 0 0" sleep="init">
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<geom type="box" size=".2 .2 .2"/>
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<joint type="ball" stiffness="300" damping="30"/>
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<body pos=".2 0 0">
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<geom type="cylinder" size="0.1" fromto="0 0 0 0 0 1"/>
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<joint type="slide" axis="0 0 1" springref="0.2" stiffness="1000" damping="100"/>
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</body>
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</body>
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</replicate>
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</replicate>
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</replicate>
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</worldbody>
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</mujoco>
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