Version 2.1: documentation, public API headers, and sample programs.

PiperOrigin-RevId: 403900419
2021-10-18 12:23:02 +01:00
commit 1f7eaae62e
96 changed files with 28272 additions and 0 deletions
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+<mujoco model="example">
+  <compiler coordinate="global"/>
+
+  <default>
+    <geom rgba=".8 .6 .4 1"/>
+  </default>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1" width="256" height="256"/>
+  </asset>
+
+  <worldbody>
+    <light pos="0 1 1" dir="0 -1 -1" diffuse="1 1 1"/>
+    <body>
+      <geom type="capsule" fromto="0 0 1  0 0 0.6" size="0.06"/>
+      <joint type="ball" pos="0 0 1"/>
+      <body>
+        <geom type="capsule" fromto="0 0 0.6  0.3 0 0.6" size="0.04"/>
+        <joint type="hinge" pos="0 0 0.6" axis="0 1 0"/>
+        <joint type="hinge" pos="0 0 0.6" axis="1 0 0"/>
+        <body>
+          <geom type="ellipsoid" pos="0.4 0 0.6" size="0.1 0.08 0.02"/>
+          <site name="end1" pos="0.5 0 0.6" type="sphere" size="0.01"/>
+          <joint type="hinge" pos="0.3 0 0.6" axis="0 1 0"/>
+          <joint type="hinge" pos="0.3 0 0.6" axis="0 0 1"/>
+        </body>
+      </body>
+    </body>
+    <body>
+      <geom type="cylinder" fromto="0.5 0 0.2  0.5 0 0" size="0.07"/>
+      <site name="end2" pos="0.5 0 0.2" type="sphere" size="0.01"/>
+      <joint type="free"/>
+    </body>
+  </worldbody>
+
+  <tendon>
+    <spatial limited="true" range="0 0.6" width="0.005">
+      <site site="end1"/>
+      <site site="end2"/>
+    </spatial>
+  </tendon>
+</mujoco>