| <mujoco model="microduck_ball"> | |
| <compiler angle="radian" autolimits="true"/> | |
| <worldbody> | |
| <!-- 70mm-diameter, 15g hollow plastic ball (floorball-like). | |
| Inertia = (2/3) m r^2 (thin hollow sphere) = 1.225e-5 kg m^2. | |
| friction = (sliding, torsional, rolling); low rolling resistance | |
| so a kicked ball actually rolls away. --> | |
| <body name="ball" pos="0.3 0 0.035"> | |
| <freejoint name="ball_free"/> | |
| <inertial pos="0 0 0" mass="0.015" diaginertia="1.225e-5 1.225e-5 1.225e-5"/> | |
| <geom type="sphere" name="ball_geom" size="0.035" rgba="1 0.55 0 1" friction="0.5 0.005 0.0001"/> | |
| </body> | |
| </worldbody> | |
| </mujoco> | |