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46 lines
1.7 KiB
46 lines
1.7 KiB
<mujoco>
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<asset>
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<mesh file="torus.stl" name="torus"/>
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</asset>
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<worldbody>
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<body pos="-0 0 1.5" quat="0 0 0.707107 0.707107">
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<geom mesh="torus" type="mesh" friction="0.000000"/>
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</body>
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<body pos="-0 0 0.95" quat="-0.5 -0.5 0.5 0.5">
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<geom mesh="torus" type="mesh" friction="0.000000"/>
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<freejoint/>
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</body>
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<body pos="-0 0 0.4" quat="0 0 0.707107 0.707107">
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<geom mesh="torus" type="mesh" friction="0.000000"/>
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<freejoint/>
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</body>
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<body pos="-0 0 -0.15" quat="-0.5 -0.5 0.5 0.5">
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<geom mesh="torus" type="mesh" friction="0.000000"/>
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<freejoint/>
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</body>
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<body pos="-0 0 -0.7" quat="0 0 0.707107 0.707107">
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<geom mesh="torus" type="mesh" friction="0.000000"/>
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<freejoint/>
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</body>
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<body pos="-0 0 -1.25" quat="-0.5 -0.5 0.5 0.5">
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<geom mesh="torus" type="mesh" friction="0.000000"/>
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<freejoint/>
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</body>
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<body pos="-0 0 -1.8" quat="0 0 0.707107 0.707107">
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<geom mesh="torus" type="mesh" friction="0.000000"/>
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<freejoint/>
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</body>
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<body pos="-0 0 -2.35" quat="-0.5 -0.5 0.5 0.5">
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<geom mesh="torus" type="mesh" friction="0.000000"/>
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<freejoint/>
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</body>
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<body pos="-0 0 -2.9" quat="0 0 0.707107 0.707107">
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<geom mesh="torus" type="mesh" friction="0.000000"/>
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<freejoint/>
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</body>
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<body pos="-0 0 -3.45" quat="-0.5 -0.5 0.5 0.5">
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<geom mesh="torus" type="mesh" friction="0.000000"/>
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<freejoint/>
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</body>
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</worldbody>
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</mujoco>
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