File size: 1,798 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 54 55 56 57 58 59 | <mujoco model="Equivalent Connects and Welds defined with sites and bodies">
<option viscosity="1">
<flag contact="disable"/>
</option>
<visual>
<scale framewidth="0.05" framelength="0.4"/>
</visual>
<default>
<default class="box">
<geom type="box" size=".2" fromto=".2 .2 0 .2 .2 -1" rgba=".4 .7 .6 1"/>
</default>
<site rgba=".0 .7 0 1" size="0.05"/>
</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 name="a" pos="-2 1 0">
<freejoint/>
<geom class="box"/>
<site name="a2" pos="0 -1 0"/>
<body pos="0 0 -1">
<geom class="box" size=".15"/>
<site name="a_sensor"/>
</body>
</body>
<site name="b1" euler="-90 0 0"/>
<body name="b" pos="0 1 0">
<freejoint/>
<geom class="box"/>
<site name="b2" pos="0 -1 0"/>
<body pos="0 0 -1">
<geom class="box" size=".15"/>
<site name="b_sensor"/>
</body>
</body>
</worldbody>
<equality>
<!-- equivalent connect and weld constraints defined with sites (enabled) and bodies (disabled) -->
<connect name="connect site" site1="a1" site2="a2" active="true"/>
<connect name="connect body" body1="a" body2="world" active="false" anchor="0 -1 0"/>
<weld name="weld site" site1="b1" site2="b2" active="true"/>
<weld name="weld body" body1="world" body2="b" active="false" anchor="0 -1 0" relpose="0 0 0 1 -1 0 0"/>
</equality>
<sensor>
<force name="a_force" site="a_sensor"/>
<torque name="a_torque" site="a_sensor"/>
<force name="b_force" site="b_sensor"/>
<torque name="b_torque" site="b_sensor"/>
</sensor>
</mujoco>
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