| <mujoco> | |
| <statistic meansize="0.15"/> | |
| <visual> | |
| <map force="0.02"/> | |
| <scale contactheight=".05" contactwidth=".2"/> | |
| <headlight ambient=".4 .4 .4"/> | |
| </visual> | |
| <option> | |
| <flag gravity="disable"/> | |
| </option> | |
| <worldbody> | |
| <light pos="0 0 1"/> | |
| <body pos="0 0 .3"> | |
| <freejoint/> | |
| <geom type="sphere" size=".05" rgba=".5 .5 .5 .5" margin="0.1" gap="0.1"/> | |
| </body> | |
| <body pos="-.5 0 .3"> | |
| <freejoint/> | |
| <geom type="sphere" size=".1" rgba=".5 .5 .5 .5"/> | |
| </body> | |
| <body mocap="true" pos="-1 0 0"> | |
| <geom type="cylinder" size=".2 .01" rgba=".5 .5 .5 .3" margin=".04"/> | |
| </body> | |
| <body mocap="true" pos="-.5 0 0"> | |
| <geom type="cylinder" size=".2 .04" rgba=".5 .5 .5 .3"/> | |
| </body> | |
| <body mocap="true"> | |
| <geom type="cylinder" size=".2 .2" rgba=".5 .5 .5 .3"/> | |
| </body> | |
| <body mocap="true" pos=".5 0 0"> | |
| <geom type="cylinder" size=".02 .1" rgba=".5 .5 .5 .3"/> | |
| </body> | |
| </worldbody> | |
| </mujoco> | |