Yuval Tassa
7cc42ecf2a
Keeping this rarely-used setting complicates the compiler logic and is blocking future improvements. In order to convert older models which used this option, load and save them in MuJoCo 2.3.3 or older. PiperOrigin-RevId: 521739137 Change-Id: If0cb40d5db4879a4db9318cc2be258a7923e6e85
39 lines
1.3 KiB
XML
39 lines
1.3 KiB
XML
<mujoco model="example">
|
|
<compiler angle="radian" autolimits="true"/>
|
|
<default class="main">
|
|
<geom rgba="0.8 0.6 0.4 1"/>
|
|
</default>
|
|
<asset>
|
|
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2="0.6 0.8 1" width="256" height="1536"/>
|
|
</asset>
|
|
<worldbody>
|
|
<light pos="0 1 1" dir="0 -0.707107 -0.707107" diffuse="1 1 1"/>
|
|
<body pos="0 0 1">
|
|
<joint pos="0 0 0" type="ball"/>
|
|
<geom size="0.06 0.2" pos="0 0 -0.2" type="capsule"/>
|
|
<body pos="0 0 -0.4">
|
|
<joint pos="0 0 0" axis="0 1 0"/>
|
|
<joint pos="0 0 0" axis="1 0 0"/>
|
|
<geom size="0.04 0.15" pos="0.15 0 0" quat="0.707107 0 -0.707107 0" type="capsule"/>
|
|
<body pos="0.3 0 0">
|
|
<joint pos="0 0 0" axis="0 1 0"/>
|
|
<joint pos="0 0 0" axis="0 0 1"/>
|
|
<geom size="0.1 0.08 0.02" pos="0.1 0 0" type="ellipsoid"/>
|
|
<site name="end1" pos="0.2 0 0" size="0.01"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body pos="0.3 0 0.1">
|
|
<joint type="free"/>
|
|
<geom size="0.07 0.1" type="cylinder"/>
|
|
<site name="end2" pos="0 0 0.1" size="0.01"/>
|
|
</body>
|
|
</worldbody>
|
|
<tendon>
|
|
<spatial range="0 0.6" width="0.005">
|
|
<site site="end1"/>
|
|
<site site="end2"/>
|
|
</spatial>
|
|
</tendon>
|
|
</mujoco>
|