Kyle Bayes
b1f8d444f2
PiperOrigin-RevId: 746014344 Change-Id: I93b32ab5f67ee48ab72238de53f7cda07638cb79
47 lines
1.3 KiB
XML
47 lines
1.3 KiB
XML
<mujoco>
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<option>
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<flag multiccd="enable"/>
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</option>
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<visual>
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<scale forcewidth="0.01" contactwidth="0.05" contactheight="0.05"/>
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<map force="0.1"/>
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</visual>
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<asset>
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<mesh name="die" file="die.obj" scale=".02 .02 .02"/>
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</asset>
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<default>
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<geom condim="1" type="mesh" solref="2e-5 1"/>
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<default class="wall">
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<geom type="box" rgba="0.1 0.2 1 .2"/>
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</default>
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<default class="floor">
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<geom type="box" rgba="0.1 0.2 1 1"/>
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</default>
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</default>
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<worldbody>
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<light pos="0 0 1" dir="0 0 -1" castshadow="false"/>
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<body name="container" pos="0 0 -0.11">
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<geom class="floor" size="0.27 0.27 0.01"/>
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<geom class="wall" size="0.26 0.01 0.10" pos="0.01 0.26 0.11"/>
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<geom class="wall" size="0.26 0.01 0.10" pos="-0.01 -0.26 0.11"/>
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<geom class="wall" size="0.01 0.26 0.10" pos="0.26 -0.01 0.11"/>
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<geom class="wall" size="0.01 0.26 0.10" pos="-0.26 0.01 0.11"/>
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</body>
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<replicate count="5" offset=".1 0 0">
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<replicate count="5" offset="0 .1 0">
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<replicate count="4" offset="0 0 .1">
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<body pos="-.2 -.2 0.15">
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<freejoint/>
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<geom type="mesh" mesh="die"/>
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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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