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formatted_example.xml
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<?xml version='1.0' encoding='utf-8'?>
<mujoco model="TT_test">
<compiler angle="degree" coordinate="local" inertiafromgeom="true" />
<option timestep="0.002" iterations="50" integrator="RK4" />
<default>
<geom conaffinity="1" condim="1" contype="1" material="geom" margin="0.001" rgba="1 .84 0 1" />
<site type="sphere" size="0.005" />
<tendon limited="true" range="0 10" width="0.001" rgba="1 0 0 1" stiffness="250.0" />
<position ctrllimited="true" ctrlrange="-300 0.00" />
<joint damping="1.0" armature="1.0" limited="false" stiffness="250.0" />
</default>
<asset>
<texture builtin="gradient" height="100" rgb1=".4 .5 .6" rgb2="0 0 0" type="skybox" width="100" />
<texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127" />
<texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100" />
<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane" />
<material name="geom" texture="texgeom" texuniform="true" />
</asset>
<worldbody>
<light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1" />
<geom condim="3" friction="1 1 1" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="20 20 0.125" type="plane" />
<body pos="0 0 1" name="333">
<joint type="free" name="111" />
<geom type="sphere" size=".2" rgba="0 .9 0 1" />
</body>
</worldbody>
</mujoco>