File size: 1,316 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 38 39 40 41 42 43 44 45 46 47 | <mujoco>
<option>
<flag multiccd="enable"/>
</option>
<visual>
<scale forcewidth="0.01" contactwidth="0.05" contactheight="0.05"/>
<map force="0.1"/>
</visual>
<asset>
<mesh name="die" file="die.obj" scale=".02 .02 .02"/>
</asset>
<default>
<geom condim="1" type="mesh" solref="2e-5 1"/>
<default class="wall">
<geom type="box" rgba="0.1 0.2 1 .2"/>
</default>
<default class="floor">
<geom type="box" rgba="0.1 0.2 1 1"/>
</default>
</default>
<worldbody>
<light pos="0 0 1" dir="0 0 -1" castshadow="false"/>
<body name="container" pos="0 0 -0.11">
<geom class="floor" size="0.27 0.27 0.01"/>
<geom class="wall" size="0.26 0.01 0.10" pos="0.01 0.26 0.11"/>
<geom class="wall" size="0.26 0.01 0.10" pos="-0.01 -0.26 0.11"/>
<geom class="wall" size="0.01 0.26 0.10" pos="0.26 -0.01 0.11"/>
<geom class="wall" size="0.01 0.26 0.10" pos="-0.26 0.01 0.11"/>
</body>
<replicate count="5" offset=".1 0 0">
<replicate count="5" offset="0 .1 0">
<replicate count="4" offset="0 0 .1">
<body pos="-.2 -.2 0.15">
<freejoint/>
<geom type="mesh" mesh="die"/>
</body>
</replicate>
</replicate>
</replicate>
</worldbody>
</mujoco>
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