chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add some elements to test model.

Browse Source 
PiperOrigin-RevId: 710067190
Change-Id: I478085b8177ea8ebfa4190db8eb722c306c9793e
This commit is contained in:
Yuval Tassa
2024-12-27 08:17:58 -08:00
committed by Copybara-Service
parent a8a9607712
commit 8dd360a2c0
1 changed files with 8 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/testdata/model.xml
Vendored
+8 -2
View File
@@ -43,12 +43,13 @@
<worldbody>
<light pos="0 0 3"/>
<geom name="floor" type="plane" size="4 4 .1"/>
<geom name="floor" type="plane" size="4 4 .1" margin="0.01" gap="0.005"/>
<geom type="hfield" hfield="hfield" pos="-.4 .6 .05" rgba="0 0 1 1"/>
<body name="head" pos="0 0 .7" gravcomp="0.5">
<geom type="ellipsoid" size=".2 .2 .4" density="200" material="grid"/>
<site name="head" pos="0 0 .4" size=".1 .1 .05" type="box"/>
<site name="anchor0" pos="0 .2 0"/>
<site name="anchor_knee" pos="-.16 -.16 0"/>
<site name="rf" pos="0 0 -0.41" zaxis="0 0 -1"/>
<freejoint/>
<body euler="0 0 0" pos=".2 0 -.2">
@@ -81,9 +82,10 @@
<joint name="hipy_2" class="hip0" axis="0 1 0"/>
<geom type="capsule" size=".05" rgba="1 0 0 1" fromto="0 0 0 .3 0 0"/>
<geom type="capsule" size=".05" rgba="1 0 0 1" fromto=".3 0 0 .4 0 -.3"/>
<site name="knee_2" pos=".3 0 .05"/>
<body pos=".45 0 -.3">
<joint name="wheel_2" axis="1 0 0" class="wheel"/>
<geom size=".1" rgba="0 1 0 1" type="cylinder" fromto="0 0 0 .03 0 0"/>
<geom size=".1" rgba="0 1 0 1" type="cylinder" fromto="0 0 0 .03 0 0" margin="0.01"/>
<site name="wheel_2" size=".13" rgba="0 0 0 0.1" type="cylinder" fromto="-.01 0 0 .04 0 0"/>
</body>
</body>
@@ -127,6 +129,10 @@
<geom geom="wrapping" sidesite="sidesite"/>
<site site="anchor2"/>
</spatial>
<spatial name="knee" limited="true" range=".4 .5" rgba="1 0 1 1">
<site site="anchor_knee"/>
<site site="knee_2"/>
</spatial>
<fixed name="fixed">
<joint joint="hipy_0" coef="1"/>
<joint joint="hipy_1" coef="1"/>