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<!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco model="Soft box">
<!-- Degree of Freedom: 224
Actuators: 0
Equality constraints: 651
-->
<include file="scene.xml"/>
<option solver="CG" tolerance="1e-6"/>
<size nconmax="500" njmax="5000" nstack="5000000"/>
<worldbody>
<body pos="0 0 1">
<freejoint/>
<composite type="box" count="7 7 7" spacing="0.04">
<skin texcoord="true" material="matsponge" rgba=".7 .7 .7 1"/>
<geom type="capsule" size=".015 0.05" rgba=".8 .2 .1 1"/>
<joint kind="main" solreffix="0.03 1" solimpfix="0 .1 .01"/>
</composite>
</body>
</worldbody>
</mujoco>
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