File size: 1,409 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 | <mujoco>
<option cone="elliptic" timestep="1e-4" integrator="implicitfast"/>
<visual>
<global elevation="0"/>
</visual>
<asset>
<texture name="grid" type="2d" builtin="checker" rgb1=".1 .2 .3" rgb2=".2 .3 .4" width="300" height="300"/>
<material name="grid" texture="grid" texrepeat="8 8" reflectance=".2"/>
<texture name="ball" type="cube" builtin="checker" rgb1=".3 .3 .3" rgb2="1 1 1" width="300" height="300"/>
<material name="ball" texture="ball" texrepeat="8 8"/>
</asset>
<worldbody>
<geom name="floor" size=".2 .2 .01" type="plane" material="grid"/>
<geom name="wall" size=".2 .2 .01" type="plane" material="grid" pos=".2 0 .2" zaxis="-1 0 0"/>
<light pos="0 0 .6"/>
<light pos="-.6 0 .6" dir="1 0 -1"/>
<body name="ball" pos="-.1 0 .2">
<freejoint/>
<geom name="ball" type="sphere" size=".02" material="ball" mass=".001"/>
<body name="ballast">
<joint type="ball" stiffness="0.1" damping=".0001"/>
<geom name="ballast" type="sphere" size=".02" contype="0" conaffinity="0" mass=".01" group="3"/>
</body>
</body>
</worldbody>
<default>
<pair solref="-100000 0" solreffriction="0 -10000"/>
</default>
<contact>
<pair geom1="floor" geom2="ball"/>
<pair geom1="wall" geom2="ball"/>
</contact>
<keyframe>
<key name="throw" qvel="1.3 0 0 0 0 0 0 0 0"/>
</keyframe>
</mujoco>
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