| | <mujoco> |
| | |
| |
|
| | <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> |
| |
|
