File size: 1,668 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 | <mujoco>
<compiler alignfree="true"/>
<worldbody>
<light pos="0 0 10"/>
<geom type="plane" pos="0 0 -1.5" size="5 5 .01"/>
<body name="body" pos="0 0 1">
<freejoint/>
<geom type="capsule" size=".1" fromto="0 0 0 1 0 0"/>
<geom name="geom1" type="capsule" size=".1" fromto="1 0 0 1 1 0"/>
<frame pos="1 1 0" euler="0 30 0">
<geom name="geom2" type="capsule" size=".1" fromto="0 0 0 0 0 1"/>
<site name="site" pos="-.2 0 1" type="box" size=".03 .06 .1" quat="1 2 3 4" rgba="0 1 0 1"/>
<light name="light" pos="0 0 1.1" dir="0 -1 -1"/>
<camera name="camera" pos="0 0 1.2" euler="10 20 30"/>
</frame>
</body>
<site name="anchor" pos="0 0 2" size=".1"/>
</worldbody>
<tendon>
<spatial springlength="0 1" stiffness="10000" width=".05">
<site site="site"/>
<site site="anchor"/>
</spatial>
</tendon>
<sensor>
<framepos objtype="body" objname="body"/>
<framexaxis objtype="body" objname="body"/>
<frameyaxis objtype="body" objname="body"/>
<framepos objtype="geom" objname="geom1"/>
<framexaxis objtype="geom" objname="geom1"/>
<frameyaxis objtype="geom" objname="geom1"/>
<framepos objtype="geom" objname="geom2"/>
<framexaxis objtype="geom" objname="geom2"/>
<frameyaxis objtype="geom" objname="geom2"/>
<framepos objtype="site" objname="site"/>
<framexaxis objtype="site" objname="site"/>
<frameyaxis objtype="site" objname="site"/>
<framepos objtype="camera" objname="camera"/>
<framexaxis objtype="camera" objname="camera"/>
<frameyaxis objtype="camera" objname="camera"/>
</sensor>
</mujoco>
|