| <mujoco> | |
| <option cone="elliptic" timestep="1e-4" integrator="implicitfast"/> | |
| <visual> | |
| <global elevation="0"/> | |
| </visual> | |
| <asset> | |
| <texture name="grid" type="2d" builtin="checker" rgb1=".1 .2 .3" rgb2=".2 .3 .4" width="300" height="300"/> | |
| <material name="grid" texture="grid" texrepeat="8 8" reflectance=".2"/> | |
| <texture name="ball" type="cube" builtin="checker" rgb1=".3 .3 .3" rgb2="1 1 1" width="300" height="300"/> | |
| <material name="ball" texture="ball" texrepeat="8 8"/> | |
| </asset> | |
| <worldbody> | |
| <geom name="floor" size=".2 .2 .01" type="plane" material="grid"/> | |
| <geom name="wall" size=".2 .2 .01" type="plane" material="grid" pos=".2 0 .2" zaxis="-1 0 0"/> | |
| <light pos="0 0 .6"/> | |
| <light pos="-.6 0 .6" dir="1 0 -1"/> | |
| <body name="ball" pos="-.1 0 .2"> | |
| <freejoint/> | |
| <geom name="ball" type="sphere" size=".02" material="ball" mass=".001"/> | |
| <body name="ballast"> | |
| <joint type="ball" stiffness="0.1" damping=".0001"/> | |
| <geom name="ballast" type="sphere" size=".02" contype="0" conaffinity="0" mass=".01" group="3"/> | |
| </body> | |
| </body> | |
| </worldbody> | |
| <default> | |
| <pair solref="-100000 0" solreffriction="0 -10000"/> | |
| </default> | |
| <contact> | |
| <pair geom1="floor" geom2="ball"/> | |
| <pair geom1="wall" geom2="ball"/> | |
| </contact> | |
| <keyframe> | |
| <key name="throw" qvel="1.3 0 0 0 0 0 0 0 0"/> | |
| </keyframe> | |
| </mujoco> | |