| <mujoco model="Connect and Weld defined with sites"> | |
| <option viscosity="1"> | |
| <flag contact="disable"/> | |
| </option> | |
| <visual> | |
| <scale framewidth="0.05" framelength="0.4"/> | |
| </visual> | |
| <default> | |
| <default class="free"> | |
| <geom type="box" size=".2" fromto=".2 .2 0 .2 .2 -2" rgba=".4 .7 .6 1"/> | |
| </default> | |
| <site rgba=".0 .7 0 1"/> | |
| </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 pos="-2 1 0"> | |
| <freejoint/> | |
| <geom class="free"/> | |
| <site name="a2"/> | |
| </body> | |
| <site name="b1" euler="-90 0 0"/> | |
| <body pos="0 1 0"> | |
| <freejoint/> | |
| <geom class="free"/> | |
| <site name="b2"/> | |
| </body> | |
| <site name="c1" pos="2 0 0" euler="-90 0 0"/> | |
| <body pos="2 1 0"> | |
| <freejoint/> | |
| <geom class="free"/> | |
| <site name="c2"/> | |
| </body> | |
| </worldbody> | |
| <equality> | |
| <connect name="connect" site1="a1" site2="a2"/> | |
| <weld name="weak weld" site1="b1" site2="b2" torquescale="0.2"/> | |
| <weld name="weld" site1="c1" site2="c2"/> | |
| </equality> | |
| </mujoco> | |