Yuval Tassa
5004a4c8c5
- Memory heuristic rounds up to the nearest MB. - `simulate` reports total memory currently allocated in the info box. - All example models use `<size memory/>` rather than legacy attributes. - Regenerated `example_saved.xml` and reformatted original model in [overview chapter](https://mujoco.readthedocs.io/en/latest/overview.html?#examples). - `<size>` top-level section does not get written if empty. PiperOrigin-RevId: 486702670 Change-Id: I0306e335f32344c59562ba606664ec9d2101f8a8
39 lines
1.3 KiB
XML
39 lines
1.3 KiB
XML
<mujoco model="example">
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<compiler angle="radian" autolimits="true"/>
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<default class="main">
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<geom rgba="0.8 0.6 0.4 1"/>
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</default>
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<asset>
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<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2="0.6 0.8 1" width="256" height="1536"/>
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</asset>
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<worldbody>
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<light pos="0 1 1" dir="0 -0.707107 -0.707107" diffuse="1 1 1"/>
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<body pos="0 0 0.8" gravcomp="0">
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<joint pos="0 0 0.2" type="ball"/>
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<geom size="0.06 0.2" type="capsule"/>
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<body pos="0.15 0 -0.2" quat="0.707107 0 -0.707107 0" gravcomp="0">
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<joint pos="0 0 0.15" axis="0 1 0"/>
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<joint pos="0 0 0.15" axis="0 0 -1"/>
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<geom size="0.04 0.15" type="capsule"/>
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<body pos="0 0 -0.25" quat="0.707107 0 0.707107 0" gravcomp="0">
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<joint pos="-0.1 0 0" axis="0 1 0"/>
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<joint pos="-0.1 0 0" axis="0 0 1"/>
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<geom size="0.1 0.08 0.02" type="ellipsoid"/>
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<site name="end1" pos="0.1 0 0" size="0.01"/>
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</body>
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</body>
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</body>
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<body pos="0.5 0 0.1" gravcomp="0">
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<joint type="free"/>
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<geom size="0.07 0.1" type="cylinder"/>
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<site name="end2" pos="0 0 0.1" size="0.01"/>
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</body>
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</worldbody>
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<tendon>
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<spatial range="0 0.6" width="0.005">
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<site site="end1"/>
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<site site="end2"/>
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</spatial>
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</tendon>
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</mujoco>
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