File size: 2,157 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 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 | <mujoco>
<compiler discardvisual="false"/>
<asset>
<texture name="discarded_skybox" type="skybox" builtin="gradient"
rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
<texture name="discarded" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
<material name="discarded" texture="discarded" texrepeat="1 1" texuniform="true" reflectance=".2"/>
<mesh name="kept" vertex="0 0 0 1 0 0 0 1 0 0 0 1"/>
<mesh name="discarded0" vertex="0 0 0 1 0 0 0 1 0 0 0 1"/>
<mesh name="discarded1" vertex="0 0 0 1 0 0 0 1 0 0 0 1"/>
</asset>
<worldbody>
<geom name="kept_floor" size="0 0 .05" type="plane" material="discarded"/>
<body pos="0 0 -.5">
<freejoint/>
<geom name="discarded0" type="mesh" mesh="discarded0" contype="0" conaffinity="0"/>
</body>
<site name="tendon0" pos=".1 0 1.5"/>
<geom name="kept_tendon" size="0.2" contype="0" conaffinity="0" pos="0 0 1"/>
<body pos=".1 0 -.5">
<site name="tendon1" pos="0 0 1"/>
<freejoint/>
<geom name="discarded1" type="mesh" mesh="kept" contype="0" conaffinity="0"/>
</body>
<body pos=".2 0 -.5">
<geom name="kept0" type="mesh" mesh="kept"/>
</body>
<body pos=".3 0 -.5">
<freejoint/>
<geom name="kept1" type="mesh" mesh="kept"/>
</body>
<body pos=".4 0 -.5">
<geom name="discarded2" type="mesh" mesh="kept" contype="0" conaffinity="0"/>
</body>
<geom name="kept_sensor" size="0.2" contype="0" conaffinity="0"/>
<geom name="kept_pair" size="0.2" contype="0" conaffinity="0" pos=".3 0 .4"/>
<geom name="kept_tuple" size="0.2" contype="0" conaffinity="0"/>
</worldbody>
<contact>
<pair geom1="kept1" geom2="kept_pair"/>
</contact>
<tendon>
<spatial range="0 1">
<site site="tendon0"/>
<geom geom="kept_tendon"/>
<site site="tendon1"/>
</spatial>
</tendon>
<sensor>
<framepos objtype="geom" objname="kept_sensor"/>
</sensor>
<custom>
<tuple name="tuple">
<element objtype="geom" objname="kept_tuple"/>
</tuple>
</custom>
</mujoco>
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