| <mujoco> | |
| <option> | |
| <flag contact="disable"/> | |
| </option> | |
| <default> | |
| <default class="static"> | |
| <geom size=".5 .1 .5" rgba=".5 .7 .5 .3"/> | |
| </default> | |
| <default class="free"> | |
| <geom type="box" size=".2" fromto="0 0 0 0 -1 0" rgba=".4 .7 .6 .3"/> | |
| </default> | |
| </default> | |
| <worldbody> | |
| <geom pos="0 0 -2" type="plane" size="10 10 .01"/> | |
| <light pos="0 0 20"/> | |
| <body name="box1" pos="-3 0 0"> | |
| <geom type="box" class="static"/> | |
| </body> | |
| <body name="beam1" pos="-3 0 0"> | |
| <freejoint/> | |
| <geom class="free"/> | |
| </body> | |
| <body name="box2" pos="-1 0 0"> | |
| <geom type="box" class="static"/> | |
| </body> | |
| <body name="beam2" pos="-1 0 0"> | |
| <freejoint/> | |
| <geom class="free"/> | |
| </body> | |
| <body name="box3" pos="1 0 0"> | |
| <geom type="box" class="static"/> | |
| <site name="box3" pos=".5 -.1 .5" type="box" size=".05 .05 .05"/> | |
| </body> | |
| <body name="beam3" pos="1 0 0"> | |
| <freejoint/> | |
| <geom class="free"/> | |
| <site name="beam3" pos=".2 -.1 .2" type="box" size=".05 .05 .05"/> | |
| </body> | |
| </worldbody> | |
| <equality> | |
| <connect body1="beam1" anchor="0 0 0"/> | |
| <connect body1="box2" body2="beam2" anchor=".5 .1 .5"/> | |
| <connect site1="box3" site2="beam3"/> | |
| </equality> | |
| </mujoco> | |