| <mujoco model="frameless contact"> | |
| <asset> | |
| <hfield name="hf" nrow="10" ncol="10" size="1 1 0.1 0.01"/> | |
| </asset> | |
| <worldbody> | |
| <geom type="hfield" hfield="hf"/> | |
| <body> | |
| <joint type="slide" axis="1 0 0" damping="1"/> | |
| <joint type="slide" axis="0 1 0" damping="1"/> | |
| <geom pos="0 0 0.2" size="0.3 0.3 0.2" type="box"/> | |
| </body> | |
| </worldbody> | |
| </mujoco> | |