Yuval Tassa
5231a335bf
PiperOrigin-RevId: 576546484 Change-Id: I7192a0c32e1aed8e201d1db953b657e605cd74f0
28 lines
915 B
XML
28 lines
915 B
XML
<mujoco model="energy conserving pendulum">
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<option integrator="RK4">
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<flag constraint="disable" energy="enable"/>
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</option>
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<worldbody>
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<light pos="0 0 2"/>
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<geom pos="0 0 -.5" type="plane" size="1 1 .01"/>
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<body pos="0 0 0">
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<joint type="hinge" axis="0 1 0"/>
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<geom type="cylinder" size="0.02" fromto="0 -.02 0 0 .02 0"/>
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<geom type="capsule" size="0.02" fromto="0 0 0 .1 0 0"/>
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<body pos="0.1 0 0">
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<joint type="slide" axis="1 0 0" stiffness="200"/>
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<geom type="capsule" size="0.015" fromto="-.1 0 0 .1 0 0"/>
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<body pos=".1 0 0">
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<joint type="ball"/>
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<geom type="box" size=".02" fromto="0 0 0 0 .1 0"/>
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<body pos="0 .1 0">
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<joint axis="1 0 0"/>
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<geom type="capsule" size="0.02" fromto="0 0 0 0 .1 0"/>
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</body>
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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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