| | <mujoco> |
| | |
| | <option> |
| | <flag contact="disable"/> |
| | </option> |
| |
|
| | <default> |
| | <default class="static"> |
| | <geom size=".5 .1 .5" rgba=".5 .7 .5 .3"/> |
| | </default> |
| | <default class="free"> |
| | <geom type="box" size=".2" fromto="0 0 0 0 -2 0" rgba=".4 .7 .6 .3"/> |
| | </default> |
| | </default> |
| |
|
| | <worldbody> |
| | <geom pos="0 0 -2" type="plane" size="10 10 .01"/> |
| | <light pos="0 0 20"/> |
| |
|
| | <body name="box1" pos="-3 0 0"> |
| | <geom type="box" class="static"/> |
| | </body> |
| | <body name="beam1" pos="-3 0 0"> |
| | <freejoint/> |
| | <geom class="free"/> |
| | </body> |
| |
|
| | <body name="box2" pos="-1 0 0"> |
| | <geom type="box" class="static"/> |
| | </body> |
| | <body name="beam2" pos="-1 0 0"> |
| | <freejoint/> |
| | <geom class="free"/> |
| | </body> |
| |
|
| | <body name="box3" pos="1 0 0"> |
| | <geom type="box" class="static"/> |
| | </body> |
| | <body name="beam3" pos="1 0 0"> |
| | <freejoint/> |
| | <geom class="free"/> |
| | </body> |
| |
|
| | <body name="box4" pos="3 0 0"> |
| | <geom type="box" class="static"/> |
| | </body> |
| | <body name="beam4" pos="3 0 0"> |
| | <freejoint/> |
| | <geom class="free"/> |
| | </body> |
| |
|
| | <body name="box5" pos="5 0 0"> |
| | <geom type="box" class="static"/> |
| | <site name="box5"/> |
| | </body> |
| | <body name="beam5" pos="5 0 0"> |
| | <freejoint/> |
| | <geom class="free"/> |
| | <site name="beam5" pos="0 -1 0" euler="45 20 5"/> |
| | </body> |
| | </worldbody> |
| |
|
| | <equality> |
| | <weld name="weak torques" body1="box1" body2="beam1" torquescale="0.002"/> |
| | <weld name="anchor no torques" body1="box2" body2="beam2" torquescale="0" anchor="0 -2 0"/> |
| | <weld name="relpose" body1="box3" body2="beam3" relpose="0 0 0 1 -.3 0 0"/> |
| | <weld name="relpose+anchor" body1="box4" body2="beam4" relpose="0 0 0 1 -.3 0 0" anchor="0 0 -1"/> |
| | <weld name="site" site1="box5" site2="beam5"/> |
| | </equality> |
| | </mujoco> |
