Erik Frey
7069976557
PiperOrigin-RevId: 577905570 Change-Id: I70580d21e3c612606b967cdd84ad22794c672397
72 lines
2.0 KiB
XML
72 lines
2.0 KiB
XML
<mujoco>
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<option solver="CG" iterations="8">
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<flag contact="disable"/>
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</option>
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<default>
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<default class="static">
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<geom size=".5 .1 .5" rgba=".5 .7 .5 .3"/>
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</default>
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<default class="free">
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<geom type="box" size=".2" fromto="0 0 0 0 -2 0" rgba=".4 .7 .6 .3"/>
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</default>
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</default>
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<worldbody>
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<geom pos="0 0 -2" type="plane" size="10 10 .01"/>
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<light pos="0 0 20"/>
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<body name="box1" pos="-3 0 0">
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<geom type="box" class="static"/>
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</body>
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<body name="beam1" pos="-3 0 0">
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<freejoint/>
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<geom class="free"/>
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</body>
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<body name="box2" pos="-1 0 0">
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<geom type="box" class="static"/>
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</body>
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<body name="beam2" pos="-1 0 0">
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<freejoint/>
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<geom class="free"/>
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</body>
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<body name="box3" pos="1 0 0">
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<geom type="box" class="static"/>
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</body>
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<body name="beam3" pos="1 0 0">
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<freejoint/>
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<geom class="free"/>
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</body>
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<body name="box4" pos="3 0 0">
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<geom type="box" class="static"/>
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</body>
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<body name="beam4" pos="3 0 0">
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<freejoint/>
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<geom class="free"/>
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</body>
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<body name="box5" pos="4 0 0">
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<geom class="free"/>
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<joint name="joint1" axis="1 0 0" type="hinge" />
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</body>
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<body name="box6" pos="4 0 0">
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<geom class="free"/>
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<joint name="joint2" axis="1 0 0" type="hinge" />
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</body>
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</worldbody>
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<equality>
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<connect name="connect anchor" body1="box1" body2="beam1" anchor="0 0 -1" />
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<weld name="weld anchor weak torques" body1="box2" body2="beam2" torquescale="0.002" anchor="0 -2 0"/>
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<weld name="weld relpose" body1="box3" body2="beam3" relpose="0 0 0 1 -.3 0 0"/>
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<weld name="weld relpose+anchor" body1="box4" body2="beam4" relpose="0 0 0 1 -.3 0 0" anchor="0 0 -1"/>
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<joint name="joint" joint1="joint1" joint2="joint2" polycoef="0 -1 0.1 0.15 0.2" />
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</equality>
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</mujoco>
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