File size: 1,290 Bytes
2c55b92 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 | <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 -1 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"/>
<site name="box3" pos=".5 -.1 .5" type="box" size=".05 .05 .05"/>
</body>
<body name="beam3" pos="1 0 0">
<freejoint/>
<geom class="free"/>
<site name="beam3" pos=".2 -.1 .2" type="box" size=".05 .05 .05"/>
</body>
</worldbody>
<equality>
<connect body1="beam1" anchor="0 0 0"/>
<connect body1="box2" body2="beam2" anchor=".5 .1 .5"/>
<connect site1="box3" site2="beam3"/>
</equality>
</mujoco>
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