File size: 1,300 Bytes
2c55b92 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 | <mujoco>
<!-- This model leads to bad contacts from mjc_BoxBox -->
<default>
<geom rgba="1 1 1 1" margin="1e-3" gap="1e-3"/>
<site type="sphere" rgba="0 0 0 0" size="0.001"/>
</default>
<worldbody>
<light diffuse="1 1 1" pos="-5 -17.5 15" dir="0.24 0.84 -0.48"/>
<camera name="fixed" pos="0 -25 8" euler="90 0 0"/>
<geom name="ground" pos="0 0 0" quat="1 0 0 0" rgba="0.770 0.670 0.490 1" size="50 50 1" type="plane"/>
<body name="block01" pos="-0.9 0 1.5" quat="1 0 0 0">
<freejoint/>
<geom mass="1" name="geom01" rgba="0.5 0 0 1" size="0.5 0.5 1.5" type="box"/>
</body>
<body name="block02" pos="-0.7 0 3.5" quat="1 0 0 0">
<freejoint/>
<geom mass="1" name="geom02" rgba="0.5 0 0.350 1" size="1.5 0.5 0.5" type="box"/>
</body>
<body name="block03" pos="0.3 0 5.5" quat="1 0 0 0">
<freejoint/>
<geom mass="1" name="geom03" rgba="0 0.5 0.450 1" size="0.5 0.5 1.5" type="box"/>
</body>
<body name="block04" pos="0.200 1e-9 7.5" quat="1 0 0 0">
<freejoint/>
<geom mass="1" name="geom04" rgba="0 0.5 0.099 1" size="1.5 0.5 0.5" type="box"/>
</body>
</worldbody>
<contact>
<exclude body1="world" body2="block01"/>
<exclude body1="block03" body2="block02"/>
</contact>
</mujoco>
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