Yuval Tassa
769f37b653
PiperOrigin-RevId: 829361787 Change-Id: I6f64d8e25c4248cf32c18cd94d37ff5def78946e
61 lines
1.8 KiB
XML
61 lines
1.8 KiB
XML
<mujoco>
|
|
<option>
|
|
<flag sleep="enable"/>
|
|
</option>
|
|
|
|
<worldbody>
|
|
<light pos="0 -1 4"/>
|
|
<geom type="plane" size="1.5 1.5 .01"/>
|
|
|
|
<body pos=".3 0 .8">
|
|
<joint name="1" axis="1 0 0" damping=".1"/>
|
|
<geom type="box" size=".03 .1 .1"/>
|
|
</body>
|
|
|
|
<body pos=".7 0 .8">
|
|
<joint name="2" axis="1 0 0" damping=".1"/>
|
|
<geom type="box" size=".03 .1 .1"/>
|
|
</body>
|
|
|
|
<body pos=".5 0 .5">
|
|
<geom type="box" size=".1 .1 .1"/>
|
|
<site name="1" pos="-.1 0 0" size=".01" rgba="1 0 0 1"/>
|
|
</body>
|
|
|
|
<body pos="-.3 -.4 .5" euler="10 20 30">
|
|
<freejoint/>
|
|
<geom type="box" size=".1 .1 .1"/>
|
|
<site name="2" pos="0 0 .1" size=".01" rgba="1 0 0 1" euler="0 -90 0"/>
|
|
<site name="3" pos="0 -.1 0" size=".01" rgba="1 0 0 1" euler="0 0 -90"/>
|
|
</body>
|
|
|
|
<body pos=".7 -.3 .5">
|
|
<freejoint/>
|
|
<geom type="box" size=".1 .1 .1"/>
|
|
<site name="4" pos="-.1 0 0" size=".01" rgba="1 0 0 1"/>
|
|
</body>
|
|
|
|
<body pos="-.3 0 .7">
|
|
<joint axis="0 1 0" springdamper=".03 1"/>
|
|
<geom type="capsule" size=".03" fromto="0 0 0 .2 0 0"/>
|
|
<site name="5" pos=".1 0 .03" size=".01" rgba="1 0 0 1"/>
|
|
<body pos=".2 0 0">
|
|
<joint axis="0 1 0" springdamper=".03 1"/>
|
|
<geom type="capsule" size=".03" fromto="0 0 0 0 0 .2"/>
|
|
<body pos="0 0 .2">
|
|
<joint axis="0 1 0" springdamper=".03 1"/>
|
|
<geom type="capsule" size=".03" fromto="0 0 0 -.15 0 0"/>
|
|
<site name="6" pos="-.18 0 0" size=".01" rgba="1 0 0 1"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</worldbody>
|
|
|
|
<equality>
|
|
<weld active="false" name="stat/dyn" site1="1" site2="2"/>
|
|
<weld active="false" name="dyn/dyn" site1="3" site2="4"/>
|
|
<connect active="false" name="self" site1="5" site2="6"/>
|
|
<joint name="joint" joint1="1" joint2="2" polycoef="0 -2"/>
|
|
</equality>
|
|
</mujoco>
|