| <mujoco model="collide box-shaped meshes"> | |
| <option timestep="1e-3" gravity="-1 1 -10" solver="CG" iterations="10"> | |
| <flag multiccd="enable"/> | |
| </option> | |
| <visual> | |
| <scale forcewidth="0.02" contactwidth="0.05" contactheight="0.05"/> | |
| <map force="0.01"/> | |
| </visual> | |
| <asset> | |
| <mesh name="box" scale=".025 .025 .025" | |
| 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"/> | |
| <mesh name="wall" scale=".5 .5 .1" | |
| 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-3 1"/> | |
| <default class="free"> | |
| <geom mesh="box"/> | |
| </default> | |
| <default class="wall"> | |
| <geom mesh="wall" rgba=".5 .5 .8 1"/> | |
| </default> | |
| </default> | |
| <worldbody> | |
| <light pos="1 -1 1" dir="-1 1 -1"/> | |
| <geom class="wall"/> | |
| <geom class="wall" pos="-.6 0 .4" euler="0 90 0"/> | |
| <geom class="wall" pos="-.2 .6 .4" euler="90 0 0"/> | |
| <replicate count="5" offset=".06 0 0"> | |
| <replicate count="5" offset="0 .06 0"> | |
| <replicate count="4" offset="0 0 .06"> | |
| <body pos="-.1 -.2 0.15"> | |
| <freejoint/> | |
| <geom class="free"/> | |
| </body> | |
| </replicate> | |
| </replicate> | |
| </replicate> | |
| </worldbody> | |
| </mujoco> | |