dm_control/dm_control/mjcf/test_assets/test_model.xml at 8e0f811f453b4f0489cede7d91ef890a00dce696 · google-deepmind/dm_control · GitHub

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<mujoco model="test">
  <size memory="1K"/>
  <compiler texturedir="textures"/>
  <asset>
    <texture name="texture" type="cube" file="deepmind.png"/>
    <material name="mat_texture" texture="texture"/>
  </asset>
  <option timestep="0.01" wind="3 2 1">
    <flag gravity="disable"/>
  </option>
  <visual>
    <map znear="0.01" zfar="100"/>
  </visual>
  <default>
    <site type="sphere" size="0.01 0.01 0.01"/>
    <geom size="0.1 0.1 0.1" rgba="1 0 0 1"/>
    <default class="big_and_green">
      <geom size="1 1 1" rgba="0 1 0 0"/>
    </default>
  </default>
  <worldbody>
    <body name="b_0">
      <freejoint name="b_0"/>
      <inertial pos="0 0 0" mass="1"/>
      <body name="b_0_0">
        <joint name="b_0_0" type="ball"/>
        <geom name="b_0_0" type="sphere" class="big_and_green"/>
        <site name="attachment" pos="0.1 0.1 0.1" quat="0 1 0 0"/>
      </body>
    </body>
    <body name="b_1" childclass="big_and_green">
      <freejoint name="b_1"/>
      <body name="b_1_0">
        <joint name="b_1_0" type="ball"/>
        <geom name="b_1_0" type="sphere" material="mat_texture"/>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude name="exclude" body1="b_0" body2="b_1"/>
  </contact>
  <actuator>
    <velocity name="b_0_0" joint="b_0_0"/>
    <velocity name="b_1_0" joint="b_1_0"/>
  </actuator>
  <sensor>
    <user name="dummy" dim="1" user="0 1 0 1" />
  </sensor>
</mujoco>