21 lines
723 B
XML
21 lines
723 B
XML
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<mujoco>
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<worldbody>
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<body name="base" pos="0 0 1">
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<freejoint name="free_joint"/>
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<geom name="base_geom" type="box" size="0.2 0.2 0.1" mass="1.0"/>
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<body name="link1" pos="0 0 0">
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<joint name="joint1" type="hinge" axis="0 0 1" range="-1.57 1.57"/>
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<geom name="link1_geom" type="box" size="0.1 0.1 0.1" mass="0.1"/>
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<site name="site1" pos="0 0 0"/>
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</body>
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<body name="link2" pos="0 0 0">
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<joint name="joint2" type="hinge" axis="0 0 1" range="-1.57 1.57"/>
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<geom name="link2_geom" type="box" size="0.1 0.1 0.1" mass="0.1"/>
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</body>
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</body>
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</worldbody>
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<sensor>
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<jointpos name="joint1_pos" joint="joint1"/>
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</sensor>
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</mujoco>
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