37 lines
1.7 KiB
XML
37 lines
1.7 KiB
XML
<mujoco model="AirHockeySingle">
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<include file="planar_robot_1.xml"/>
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<include file="planar_robot_2.xml"/>
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<include file="../table.xml"/>
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<contact>
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<exclude body1="planar_robot_1/body_ee" body2="table_surface"/>
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<exclude body1="planar_robot_1/body_hand" body2="table_surface"/>
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<exclude body1="planar_robot_1/body_3" body2="table_surface"/>
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<exclude body1="planar_robot_1/body_2" body2="table_surface"/>
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<exclude body1="planar_robot_1/body_1" body2="table_surface"/>
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<exclude body1="planar_robot_1/base" body2="table_surface"/>
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<exclude body1="planar_robot_1/body_ee" body2="rim"/>
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<exclude body1="planar_robot_1/body_hand" body2="rim"/>
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<exclude body1="planar_robot_1/body_3" body2="rim"/>
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<exclude body1="planar_robot_1/body_2" body2="rim"/>
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<exclude body1="planar_robot_1/body_1" body2="rim"/>
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<exclude body1="planar_robot_1/base" body2="rim"/>
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<exclude body1="planar_robot_2/body_ee" body2="table_surface"/>
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<exclude body1="planar_robot_2/body_hand" body2="table_surface"/>
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<exclude body1="planar_robot_2/body_3" body2="table_surface"/>
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<exclude body1="planar_robot_2/body_2" body2="table_surface"/>
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<exclude body1="planar_robot_2/body_1" body2="table_surface"/>
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<exclude body1="planar_robot_2/base" body2="table_surface"/>
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<exclude body1="planar_robot_2/body_ee" body2="rim"/>
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<exclude body1="planar_robot_2/body_hand" body2="rim"/>
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<exclude body1="planar_robot_2/body_3" body2="rim"/>
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<exclude body1="planar_robot_2/body_2" body2="rim"/>
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<exclude body1="planar_robot_2/body_1" body2="rim"/>
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<exclude body1="planar_robot_2/base" body2="rim"/>
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</contact>
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</mujoco> |