| <mujoco> | |
| <compiler angle="radian" coordinate="local" meshdir="../stls/hand" texturedir="../textures"></compiler> | |
| <option timestep="0.002" iterations="20" apirate="200"> | |
| <flag warmstart="enable"></flag> | |
| </option> | |
| <worldbody> | |
| <body name="egg" pos="1 0.87 0.2"> | |
| <geom name="egg" type="ellipsoid" size="0.03 0.03 0.04" condim="4"></geom> | |
| <site name="egg:center" pos="0 0 0" rgba="1 0 0 0" size="0.01 0.01 0.01"></site> | |
| <joint name="egg:joint" type="free" damping="0.01"></joint> | |
| </body> | |
| <light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false" pos="0 1 4" dir="0 0 -1" name="light0"></light> | |
| </worldbody> | |
| </mujoco> | |