| |
| |
| |
| |
| |
| |
| |
| |
|
|
| <mujoco> |
| <option> |
| <flag island="enable"/> |
| </option> |
|
|
| <default> |
| <geom size=".1"/> |
| </default> |
|
|
| <visual> |
| <headlight diffuse=".9 .9 .9"/> |
| </visual> |
|
|
| <worldbody> |
|
|
| <body> |
| <joint type="slide" axis="0 0 1" range="0 1" limited="true"/> |
| <geom/> |
| </body> |
|
|
| <body pos=".25 0 0"> |
| <joint type="slide" axis="1 0 0"/> |
| <geom/> |
| </body> |
|
|
| <body pos="0 0 0.25"> |
| <joint type="slide" axis="0 0 1"/> |
| <geom/> |
| <body pos="0 -.15 0"> |
| <joint name="hinge1" axis="0 1 0"/> |
| <geom type="capsule" size="0.03" fromto="0 0 0 -.2 0 0"/> |
| <body pos="-.2 0 0"> |
| <joint axis="0 1 0"/> |
| <geom type="capsule" size="0.03" fromto="0 0 0 -.2 0 0"/> |
| </body> |
| </body> |
| </body> |
|
|
| <body pos=".5 0 0"> |
| <joint type="slide" axis="0 0 1" frictionloss="15"/> |
| <geom type="box" size=".08 .08 .02" euler="0 10 0"/> |
| </body> |
|
|
| <body pos="-.5 0 0"> |
| <joint axis="0 1 0" frictionloss=".01"/> |
| <geom type="capsule" size="0.03" fromto="0 0 0 -.2 0 0"/> |
| </body> |
|
|
| <body pos="0 0 .5"> |
| <joint name="hinge2" axis="0 1 0"/> |
| <geom type="box" size=".08 .02 .08"/> |
| </body> |
|
|
| <body pos=".5 0 .1"> |
| <freejoint/> |
| <geom type="box" size=".03 .03 .03" pos="0.01 0.01 0.01"/> |
| </body> |
|
|
| <site name="0" pos="-.45 -.05 .35"/> |
| <body pos="-.5 0 .3" name="connect"> |
| <freejoint/> |
| <geom type="box" size=".05 .05 .05"/> |
| <site name="1" pos=".05 -.05 .05"/> |
| </body> |
| </worldbody> |
|
|
| <equality> |
| <joint joint1="hinge1" joint2="hinge2"/> |
| <connect body1="connect" body2="world" anchor="-.05 -.05 .05"/> |
| <connect site1="0" site2="1"/> |
| </equality> |
| </mujoco> |
|
|
