| <mujoco> | |
| <compiler alignfree="true"/> | |
| <worldbody> | |
| <light pos="0 0 10"/> | |
| <geom type="plane" pos="0 0 -1.5" size="5 5 .01"/> | |
| <body name="body" pos="0 0 1"> | |
| <freejoint/> | |
| <geom type="capsule" size=".1" fromto="0 0 0 1 0 0"/> | |
| <geom name="geom1" type="capsule" size=".1" fromto="1 0 0 1 1 0"/> | |
| <frame pos="1 1 0" euler="0 30 0"> | |
| <geom name="geom2" type="capsule" size=".1" fromto="0 0 0 0 0 1"/> | |
| <site name="site" pos="-.2 0 1" type="box" size=".03 .06 .1" quat="1 2 3 4" rgba="0 1 0 1"/> | |
| <light name="light" pos="0 0 1.1" dir="0 -1 -1"/> | |
| <camera name="camera" pos="0 0 1.2" euler="10 20 30"/> | |
| </frame> | |
| </body> | |
| <site name="anchor" pos="0 0 2" size=".1"/> | |
| </worldbody> | |
| <tendon> | |
| <spatial springlength="0 1" stiffness="10000" width=".05"> | |
| <site site="site"/> | |
| <site site="anchor"/> | |
| </spatial> | |
| </tendon> | |
| <sensor> | |
| <framepos objtype="body" objname="body"/> | |
| <framexaxis objtype="body" objname="body"/> | |
| <frameyaxis objtype="body" objname="body"/> | |
| <framepos objtype="geom" objname="geom1"/> | |
| <framexaxis objtype="geom" objname="geom1"/> | |
| <frameyaxis objtype="geom" objname="geom1"/> | |
| <framepos objtype="geom" objname="geom2"/> | |
| <framexaxis objtype="geom" objname="geom2"/> | |
| <frameyaxis objtype="geom" objname="geom2"/> | |
| <framepos objtype="site" objname="site"/> | |
| <framexaxis objtype="site" objname="site"/> | |
| <frameyaxis objtype="site" objname="site"/> | |
| <framepos objtype="camera" objname="camera"/> | |
| <framexaxis objtype="camera" objname="camera"/> | |
| <frameyaxis objtype="camera" objname="camera"/> | |
| </sensor> | |
| </mujoco> | |