| <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 -2 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"/> | |
| </body> | |
| <body name="beam3" pos="1 0 0"> | |
| <freejoint/> | |
| <geom class="free"/> | |
| </body> | |
| <body name="box4" pos="3 0 0"> | |
| <geom type="box" class="static"/> | |
| </body> | |
| <body name="beam4" pos="3 0 0"> | |
| <freejoint/> | |
| <geom class="free"/> | |
| </body> | |
| <body name="box5" pos="5 0 0"> | |
| <geom type="box" class="static"/> | |
| <site name="box5"/> | |
| </body> | |
| <body name="beam5" pos="5 0 0"> | |
| <freejoint/> | |
| <geom class="free"/> | |
| <site name="beam5" pos="0 -1 0" euler="45 20 5"/> | |
| </body> | |
| </worldbody> | |
| <equality> | |
| <weld name="weak torques" body1="box1" body2="beam1" torquescale="0.002"/> | |
| <weld name="anchor no torques" body1="box2" body2="beam2" torquescale="0" anchor="0 -2 0"/> | |
| <weld name="relpose" body1="box3" body2="beam3" relpose="0 0 0 1 -.3 0 0"/> | |
| <weld name="relpose+anchor" body1="box4" body2="beam4" relpose="0 0 0 1 -.3 0 0" anchor="0 0 -1"/> | |
| <weld name="site" site1="box5" site2="beam5"/> | |
| </equality> | |
| </mujoco> | |