Taylor Howell
60a1921b34
PiperOrigin-RevId: 675112981 Change-Id: Ie4c01440d54116075df89f480591700762892cbd
49 lines
1.1 KiB
XML
49 lines
1.1 KiB
XML
<mujoco model="Connect and Weld defined with sites">
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<option viscosity="1">
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<flag contact="disable"/>
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</option>
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<visual>
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<scale framewidth="0.05" framelength="0.4"/>
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</visual>
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<default>
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<default class="free">
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<geom type="box" size=".2" fromto=".2 .2 0 .2 .2 -2" rgba=".4 .7 .6 1"/>
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</default>
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<site rgba=".0 .7 0 1"/>
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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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<site name="a1" pos="-2 0 0" euler="-90 0 0"/>
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<body pos="-2 1 0">
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<freejoint/>
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<geom class="free"/>
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<site name="a2"/>
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</body>
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<site name="b1" euler="-90 0 0"/>
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<body pos="0 1 0">
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<freejoint/>
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<geom class="free"/>
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<site name="b2"/>
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</body>
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<site name="c1" pos="2 0 0" euler="-90 0 0"/>
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<body pos="2 1 0">
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<freejoint/>
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<geom class="free"/>
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<site name="c2"/>
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</body>
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</worldbody>
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<equality>
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<connect name="connect" site1="a1" site2="a2"/>
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<weld name="weak weld" site1="b1" site2="b2" torquescale="0.2"/>
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<weld name="weld" site1="c1" site2="c2"/>
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</equality>
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</mujoco>
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