70 lines
2.0 KiB
XML
70 lines
2.0 KiB
XML
<mujoco model="Newton's Cradle">
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<option timestep="1e-4"/>
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<visual>
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<global realtime="0.2"/>
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</visual>
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<asset>
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<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="64" height="64"/>
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<texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
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<material name="matplane" reflectance="0.5" texture="texplane" texrepeat="3 3" texuniform="true"/>
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</asset>
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<default>
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<geom friction=".5" solref="-1e8 -0" solimp="0 .01 1e-3"/>
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<tendon limited="true" range="0 0.146" width="0.001" solreflimit="1e-3 1" rgba="0 0 .7 1"/>
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<default class="steel ball">
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<geom size=".02" rgba=".7 .7 0 1" density="8000" friction=".4" solref="-1e8 -0" solimp="0 .01 1e-3"/>
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</default>
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</default>
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<worldbody>
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<light pos=".5 0 1" dir="-1 0 -2"/>
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<light pos="-.5 0 1" dir="1 0 -2"/>
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<geom type="plane" size="4 4 .1" material="matplane"/>
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<replicate count="5" offset="-.04 0 0">
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<site name="a" pos="0 -.04 .2"/>
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<site name="c" pos="0 .04 .2"/>
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<body name="equilibrium" pos="0 0 .04">
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<freejoint/>
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<geom class="steel ball"/>
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<site name="b" pos="0 -.008 .018"/>
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<site name="d" pos="0 .008 .018"/>
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</body>
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</replicate>
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<replicate count="2" offset=".04 0 0">
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<site name="e" pos=".04 -.04 .2"/>
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<site name="g" pos=".04 .04 .2"/>
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<body name="perturbed" pos=".12 0 .061" euler="0 -34 0">
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<freejoint/>
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<geom class="steel ball"/>
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<site name="f" pos="0 -.008 .018"/>
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<site name="h" pos="0 .008 .018"/>
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</body>
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</replicate>
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</worldbody>
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<tendon>
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<spatial>
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<site site="a"/>
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<site site="b"/>
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</spatial>
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<spatial>
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<site site="c"/>
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<site site="d"/>
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</spatial>
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<spatial>
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<site site="e"/>
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<site site="f"/>
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</spatial>
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<spatial>
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<site site="g"/>
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<site site="h"/>
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</spatial>
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</tendon>
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</mujoco>
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