| | <mujoco model="Equivalent Connects and Welds defined with sites and bodies"> |
| | <option viscosity="1"> |
| | <flag contact="disable"/> |
| | </option> |
| |
|
| | <visual> |
| | <scale framewidth="0.05" framelength="0.4"/> |
| | </visual> |
| |
|
| | <default> |
| | <default class="box"> |
| | <geom type="box" size=".2" fromto=".2 .2 0 .2 .2 -1" rgba=".4 .7 .6 1"/> |
| | </default> |
| | <site rgba=".0 .7 0 1" size="0.05"/> |
| | </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 name="a" pos="-2 1 0"> |
| | <freejoint/> |
| | <geom class="box"/> |
| | <site name="a2" pos="0 -1 0"/> |
| | <body pos="0 0 -1"> |
| | <geom class="box" size=".15"/> |
| | <site name="a_sensor"/> |
| | </body> |
| | </body> |
| |
|
| | <site name="b1" euler="-90 0 0"/> |
| | <body name="b" pos="0 1 0"> |
| | <freejoint/> |
| | <geom class="box"/> |
| | <site name="b2" pos="0 -1 0"/> |
| | <body pos="0 0 -1"> |
| | <geom class="box" size=".15"/> |
| | <site name="b_sensor"/> |
| | </body> |
| | </body> |
| | </worldbody> |
| |
|
| | <equality> |
| | |
| | <connect name="connect site" site1="a1" site2="a2" active="true"/> |
| | <connect name="connect body" body1="a" body2="world" active="false" anchor="0 -1 0"/> |
| | <weld name="weld site" site1="b1" site2="b2" active="true"/> |
| | <weld name="weld body" body1="world" body2="b" active="false" anchor="0 -1 0" relpose="0 0 0 1 -1 0 0"/> |
| | </equality> |
| |
|
| | <sensor> |
| | <force name="a_force" site="a_sensor"/> |
| | <torque name="a_torque" site="a_sensor"/> |
| | <force name="b_force" site="b_sensor"/> |
| | <torque name="b_torque" site="b_sensor"/> |
| | </sensor> |
| | </mujoco> |
| |
|
