| <mujoco> | |
| <option gravity="-4 4 -10"> | |
| <flag multiccd="enable"/> | |
| </option> | |
| <visual> | |
| <quality shadowsize="8192"/> | |
| <scale forcewidth="0.01" contactwidth="0.05" contactheight="0.05"/> | |
| <map force="0.1"/> | |
| </visual> | |
| <size memory="100M"/> | |
| <asset> | |
| <mesh name="box" 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" | |
| scale=".05 .05 .05"/> | |
| </asset> | |
| <default> | |
| <geom friction="0.4"/> | |
| <default class="mesh_box"> | |
| <geom type="mesh" mesh="box"/> | |
| </default> | |
| <default class="primitive_box"> | |
| <geom type="box" size=".05 .05 .05" friction=".1"/> | |
| </default> | |
| </default> | |
| <worldbody> | |
| <light pos="1 -1 1" dir="-1 1 -1"/> | |
| <geom type="box" size=".5 .5 .1" pos="-.4 .4 -.1" rgba=".5 .5 .8 1"/> | |
| <geom type="box" size=".5 .1 .5" pos="-.4 .8 .4" rgba=".5 .5 .8 1"/> | |
| <geom type="box" size=".1 .5 .5" pos="-.8 .4 .4" rgba=".5 .5 .8 1"/> | |
| <body pos="-.4 .4 .1"> | |
| <freejoint/> | |
| <geom class="mesh_box"/> | |
| </body> | |
| <body pos="-.5 .4 .1"> | |
| <freejoint/> | |
| <geom class="mesh_box"/> | |
| </body> | |
| <body pos="-.6 .4 .1"> | |
| <freejoint/> | |
| <geom class="mesh_box"/> | |
| </body> | |
| <body pos="-.4 .5 .1"> | |
| <freejoint/> | |
| <geom class="mesh_box"/> | |
| </body> | |
| <body pos="-.5 .5 .1"> | |
| <freejoint/> | |
| <geom class="mesh_box"/> | |
| </body> | |
| <body pos="-.6 .5 .1"> | |
| <freejoint/> | |
| <geom class="mesh_box"/> | |
| </body> | |
| <body pos="-.4 .6 .1"> | |
| <freejoint/> | |
| <geom class="mesh_box"/> | |
| </body> | |
| <body pos="-.5 .6 .1"> | |
| <freejoint/> | |
| <geom class="mesh_box"/> | |
| </body> | |
| <body pos="-.6 .6 .1"> | |
| <freejoint/> | |
| <geom class="mesh_box"/> | |
| </body> | |
| <body pos="-.4 .4 .2"> | |
| <freejoint/> | |
| <geom class="mesh_box"/> | |
| </body> | |
| <body pos="-.5 .4 .2"> | |
| <freejoint/> | |
| <geom class="mesh_box"/> | |
| </body> | |
| <body pos="-.6 .4 .2"> | |
| <freejoint/> | |
| <geom class="mesh_box"/> | |
| </body> | |
| <body pos="-.4 .5 .2"> | |
| <freejoint/> | |
| <geom class="mesh_box"/> | |
| </body> | |
| <body pos="-.5 .5 .2"> | |
| <freejoint/> | |
| <geom class="mesh_box"/> | |
| </body> | |
| <body pos="-.6 .5 .2"> | |
| <freejoint/> | |
| <geom class="mesh_box"/> | |
| </body> | |
| <body pos="-.4 .6 .2"> | |
| <freejoint/> | |
| <geom class="mesh_box"/> | |
| </body> | |
| <body pos="-.5 .6 .2"> | |
| <freejoint/> | |
| <geom class="mesh_box"/> | |
| </body> | |
| <body pos="-.6 .6 .2"> | |
| <freejoint/> | |
| <geom class="mesh_box"/> | |
| </body> | |
| </worldbody> | |
| </mujoco> | |