Erik Frey
8f9c690c85
Co-authored-by: Baruch Tabanpour <btaba@google.com> PiperOrigin-RevId: 574327508 Change-Id: Ia9b62fbc929c6869dfcec87636b2e10d405a1060
24 lines
795 B
XML
24 lines
795 B
XML
<mujoco model="revolute">
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<option timestep="0.02" solver="CG" iterations="6" ls_iterations="6"/>
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<compiler autolimits="true"/>
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<default>
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<geom contype="0" conaffinity="0"/>
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<joint damping="20"/>
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</default>
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<worldbody>
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<body>
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<joint axis="1 0 0" type="ball" range="0 10"/>
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<geom pos="0 0.5 0" size=".15" mass="1" type="sphere"/>
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<body pos="0.3 0.4 0.5">
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<joint axis="1 0 0" type="hinge" range="-20 20"/>
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<joint axis="0 1 0" type="hinge" range="-20 20"/>
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<geom pos="0 0.5 0" size=".15" mass="2" type="sphere"/>
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<body pos="0 0.5 0">
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<joint axis="1 0 0" type="hinge" range="-30 30"/>
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<geom pos="0 0.5 0" size=".15" mass="3" type="sphere"/>
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</body>
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</body>
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</body>
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</worldbody>
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</mujoco>
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