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<mujoco>
<!-- https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/weld.xml -->
<option>
<flag contact="disable"/>
</option>
<default>
<default class="static">
<geom size=".5 .1 .5" rgba=".5 .7 .5 .3"/>
</default>
<default class="free">
<geom type="box" size=".2" fromto="0 0 0 0 -2 0" rgba=".4 .7 .6 .3"/>
</default>
</default>
<worldbody>
<geom pos="0 0 -2" type="plane" size="10 10 .01"/>
<light pos="0 0 20"/>
<body name="box1" pos="-3 0 0">
<geom type="box" class="static"/>
</body>
<body name="beam1" pos="-3 0 0">
<freejoint/>
<geom class="free"/>
</body>
<body name="box2" pos="-1 0 0">
<geom type="box" class="static"/>
</body>
<body name="beam2" pos="-1 0 0">
<freejoint/>
<geom class="free"/>
</body>
<body name="box3" pos="1 0 0">
<geom type="box" class="static"/>
</body>
<body name="beam3" pos="1 0 0">
<freejoint/>
<geom class="free"/>
</body>
<body name="box4" pos="3 0 0">
<geom type="box" class="static"/>
</body>
<body name="beam4" pos="3 0 0">
<freejoint/>
<geom class="free"/>
</body>
<body name="box5" pos="5 0 0">
<geom type="box" class="static"/>
<site name="box5"/>
</body>
<body name="beam5" pos="5 0 0">
<freejoint/>
<geom class="free"/>
<site name="beam5" pos="0 -1 0" euler="45 20 5"/>
</body>
</worldbody>
<equality>
<weld name="weak torques" body1="box1" body2="beam1" torquescale="0.002"/>
<weld name="anchor no torques" body1="box2" body2="beam2" torquescale="0" anchor="0 -2 0"/>
<weld name="relpose" body1="box3" body2="beam3" relpose="0 0 0 1 -.3 0 0"/>
<weld name="relpose+anchor" body1="box4" body2="beam4" relpose="0 0 0 1 -.3 0 0" anchor="0 0 -1"/>
<weld name="site" site1="box5" site2="beam5"/>
</equality>
</mujoco> |