Yuval Tassa
8954a088ce
PiperOrigin-RevId: 671010083 Change-Id: Ib7d60f75c7f545b1886703715663db8de77feeef
45 lines
1.6 KiB
XML
45 lines
1.6 KiB
XML
<mujoco>
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<compiler alignfree="true"/>
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<worldbody>
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<light pos="0 0 10"/>
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<geom type="plane" pos="0 0 -1.5" size="5 5 .01"/>
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<body name="body" pos="0 0 1">
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<freejoint/>
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<geom type="capsule" size=".1" fromto="0 0 0 1 0 0"/>
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<geom name="geom1" type="capsule" size=".1" fromto="1 0 0 1 1 0"/>
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<frame pos="1 1 0" euler="0 30 0">
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<geom name="geom2" type="capsule" size=".1" fromto="0 0 0 0 0 1"/>
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<site name="site" pos="-.2 0 1" type="box" size=".03 .06 .1" quat="1 2 3 4" rgba="0 1 0 1"/>
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<light name="light" pos="0 0 1.1" dir="0 -1 -1"/>
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<camera name="camera" pos="0 0 1.2" euler="10 20 30"/>
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</frame>
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</body>
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<site name="anchor" pos="0 0 2" size=".1"/>
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</worldbody>
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<tendon>
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<spatial springlength="0 1" stiffness="10000" width=".05">
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<site site="site"/>
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<site site="anchor"/>
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</spatial>
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</tendon>
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<sensor>
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<framepos objtype="body" objname="body"/>
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<framexaxis objtype="body" objname="body"/>
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<frameyaxis objtype="body" objname="body"/>
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<framepos objtype="geom" objname="geom1"/>
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<framexaxis objtype="geom" objname="geom1"/>
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<frameyaxis objtype="geom" objname="geom1"/>
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<framepos objtype="geom" objname="geom2"/>
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<framexaxis objtype="geom" objname="geom2"/>
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<frameyaxis objtype="geom" objname="geom2"/>
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<framepos objtype="site" objname="site"/>
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<framexaxis objtype="site" objname="site"/>
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<frameyaxis objtype="site" objname="site"/>
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<framepos objtype="camera" objname="camera"/>
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<framexaxis objtype="camera" objname="camera"/>
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<frameyaxis objtype="camera" objname="camera"/>
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</sensor>
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</mujoco>
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