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| Copyright 2019 DeepMind Technologies Limited | |
| Licensed under the Apache License, Version 2.0 (the "License"); | |
| you may not use this file except in compliance with the License. | |
| You may obtain a copy of the License at | |
| http://www.apache.org/licenses/LICENSE-2.0 | |
| Unless required by applicable law or agreed to in writing, software | |
| distributed under the License is distributed on an "AS IS" BASIS, | |
| WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | |
| See the License for the specific language governing permissions and | |
| limitations under the License. | |
| --> | |
| <mujoco> | |
| <option gravity="0 -9.81 0" /> | |
| <worldbody> | |
| <geom name="ground" type="plane" size="5 5 1" euler="-90 0 0"/> | |
| <body name="parent" pos="0 10 0"> | |
| <geom name="parent_shape" type="sphere" size="0.5"/> | |
| <joint type="free" /> | |
| <body name="child" pos="2 1 0"> | |
| <geom name="child_shape" type="sphere" size="0.5"/> | |
| <joint type="hinge" axis="1 0 0"/> | |
| </body> | |
| </body> | |
| </worldbody> | |
| </mujoco> | |