| <mujoco> |
| <default> |
| <geom type="box" size=".1 .2 .3"/> |
| </default> |
|
|
| <worldbody> |
| <frame euler="0 0 30"> |
| <geom pos=".5 0 0" euler="0 0 20"/> |
| </frame> |
|
|
| <frame quat="0 1 0 0"> |
| <geom quat="0 -1 0 0"/> |
| </frame> |
|
|
| <body pos="0 .5 0"> |
| <frame quat="0 1 0 0"> |
| <geom/> |
| </frame> |
| </body> |
|
|
| <frame euler="0 0 30"> |
| <frame euler="0 0 20"> |
| <geom/> |
| </frame> |
| </frame> |
|
|
| <body> |
| <frame pos="0 1 0"> |
| <geom pos="0 1 0"/> |
| <body pos="1 0 0"> |
| <geom pos="0 0 1"/> |
| </body> |
| </frame> |
| </body> |
|
|
| <body> |
| <geom/> |
| <frame euler="90 0 0"> |
| <joint type="hinge" axis="0 0 1"/> |
| </frame> |
| </body> |
| </worldbody> |
| </mujoco> |
|
|
