File size: 1,149 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 | <mujoco model="Connect and Weld defined with sites">
<option viscosity="1">
<flag contact="disable"/>
</option>
<visual>
<scale framewidth="0.05" framelength="0.4"/>
</visual>
<default>
<default class="free">
<geom type="box" size=".2" fromto=".2 .2 0 .2 .2 -2" rgba=".4 .7 .6 1"/>
</default>
<site rgba=".0 .7 0 1"/>
</default>
<worldbody>
<geom pos="0 0 -2" type="plane" size="10 10 .01"/>
<light pos="0 0 20"/>
<site name="a1" pos="-2 0 0" euler="-90 0 0"/>
<body pos="-2 1 0">
<freejoint/>
<geom class="free"/>
<site name="a2"/>
</body>
<site name="b1" euler="-90 0 0"/>
<body pos="0 1 0">
<freejoint/>
<geom class="free"/>
<site name="b2"/>
</body>
<site name="c1" pos="2 0 0" euler="-90 0 0"/>
<body pos="2 1 0">
<freejoint/>
<geom class="free"/>
<site name="c2"/>
</body>
</worldbody>
<equality>
<connect name="connect" site1="a1" site2="a2"/>
<weld name="weak weld" site1="b1" site2="b2" torquescale="0.2"/>
<weld name="weld" site1="c1" site2="c2"/>
</equality>
</mujoco>
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