| <mujoco> |
| <option density="1000"> |
| <flag gravity="disable"/> |
| </option> |
|
|
| <worldbody> |
| <geom type="plane" size="10 10 .1" rgba="1 1 1 1"/> |
| <light pos="0 0 20"/> |
| <body name="body_stateless" pos="0 0 .5"> |
| <freejoint/> |
| <geom type="box" size=".5 .5 .1" pos="0 0 .4"/> |
| <site name="capsule" pos=".5 .5 .5" rgba="0 0 1 1" size=".1 .1" type="capsule"/> |
| <site name="ellipsoid" pos=".5 -.5 .5" rgba="0 0 1 1" size=".1 .3 .1" type="ellipsoid" euler="0 0 -45"/> |
| <site name="cylinder" pos="0 0 .5" rgba="0 0 1 1" size=".2 .1" type="cylinder"/> |
| <site name="box" pos="-.5 -.5 .5" rgba="0 0 1 1" size=".1 .1 .2" type="box"/> |
| </body> |
| </worldbody> |
|
|
| <actuator> |
| <general name="ellipsoid" site="ellipsoid" gear="0 1 0 0 0 0" ctrllimited="true" ctrlrange="-100 100"/> |
| <general name="cylinder" site="cylinder" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-100 100"/> |
| <general name="box" site="box" dyntype="integrator" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-100 100"/> |
| <general name="capsule" site="capsule" dyntype="integrator" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-100 100"/> |
| </actuator> |
| </mujoco> |
|
|
