| <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="boxmesh" scale=".02 .02 .02" | |
| 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"/> | |
| </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="boxmesh"/> | |
| </body> | |
| </replicate> | |
| </replicate> | |
| </replicate> | |
| </worldbody> | |
| </mujoco> | |