Yuval Tassa
c50177d301
Fixes #703. PiperOrigin-RevId: 527899700 Change-Id: I10e41a381dcecf62c53b3b9aa72a4ce666161366
40 lines
904 B
XML
40 lines
904 B
XML
<mujoco>
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<!-- linear dynamical system with fixed, anaylticaly computable derivatives -->
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<default>
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<joint axis="1 0 0" damping=".01" stiffness=".1"/>
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<geom type="box" size=".05 .05 .05"/>
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</default>
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<option>
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<flag gravity="disable"/>
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</option>
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<worldbody>
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<light pos="0 0 1"/>
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<body>
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<joint name="joint0"/>
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<geom/>
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<body pos=".15 0 0">
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<joint name="joint1"/>
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<site name="accelerometer" pos="0 0 -1"/>
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<geom/>
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<body pos=".15 0 0">
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<joint/>
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<geom/>
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</body>
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</body>
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</body>
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</worldbody>
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<actuator>
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<motor joint="joint0" ctrllimited="true" ctrlrange="-1 1"/>
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<motor joint="joint1" ctrllimited="true" ctrlrange="-1 1"/>
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</actuator>
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<sensor>
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<jointvel joint="joint1"/>
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<jointpos joint="joint0"/>
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<accelerometer site="accelerometer"/>
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</sensor>
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</mujoco>
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