Yuval Tassa
90bc4b555d
Cosmetic tweaks to existing models. PiperOrigin-RevId: 688133030 Change-Id: I8085b8288d67b75e1cbcbcac0dfa68fccc7d63ca
46 lines
1.3 KiB
XML
46 lines
1.3 KiB
XML
<mujoco model="collide box-shaped meshes">
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<option timestep="1e-3" gravity="-1 1 -10" solver="CG" iterations="10">
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<flag multiccd="enable"/>
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</option>
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<visual>
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<scale forcewidth="0.02" contactwidth="0.05" contactheight="0.05"/>
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<map force="0.01"/>
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</visual>
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<asset>
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<mesh name="box" scale=".025 .025 .025"
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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"/>
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<mesh name="wall" scale=".5 .5 .1"
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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"/>
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</asset>
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<default>
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<geom condim="1" type="mesh" solref="2e-3 1"/>
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<default class="free">
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<geom mesh="box"/>
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</default>
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<default class="wall">
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<geom mesh="wall" rgba=".5 .5 .8 1"/>
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</default>
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</default>
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<worldbody>
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<light pos="1 -1 1" dir="-1 1 -1"/>
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<geom class="wall"/>
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<geom class="wall" pos="-.6 0 .4" euler="0 90 0"/>
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<geom class="wall" pos="-.2 .6 .4" euler="90 0 0"/>
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<replicate count="5" offset=".06 0 0">
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<replicate count="5" offset="0 .06 0">
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<replicate count="4" offset="0 0 .06">
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<body pos="-.1 -.2 0.15">
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<freejoint/>
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<geom class="free"/>
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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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