Yuval Tassa
a1036b86d3
PiperOrigin-RevId: 668925419 Change-Id: I10cb71e6706e617c830cd90d6d0836b94a5a8cfa
53 lines
1.3 KiB
XML
53 lines
1.3 KiB
XML
<mujoco>
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<option>
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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 -1 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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<site name="box3" pos=".5 -.1 .5" type="box" size=".05 .05 .05"/>
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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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<site name="beam3" pos=".2 -.1 .2" type="box" size=".05 .05 .05"/>
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</body>
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</worldbody>
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<equality>
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<connect body1="beam1" anchor="0 0 0"/>
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<connect body1="box2" body2="beam2" anchor=".5 .1 .5"/>
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<connect site1="box3" site2="beam3"/>
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</equality>
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</mujoco>
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