Yuval Tassa
8954a088ce
PiperOrigin-RevId: 671010083 Change-Id: Ib7d60f75c7f545b1886703715663db8de77feeef
26 lines
708 B
XML
26 lines
708 B
XML
<mujoco>
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<!--
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This model replicates the behaviour seen in this video:
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https://www.youtube.com/watch?v=1n-HMSCDYtM
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see also
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https://en.wikipedia.org/wiki/Tennis_racket_theorem
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-->
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<option integrator="RK4">
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<flag energy="enable" gravity="disable"/>
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</option>
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<worldbody>
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<light pos="0 0 .3"/>
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<geom type="plane" size=".2 .2 .01" pos="0 0 -.1"/>
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<body>
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<freejoint align="true"/>
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<geom type="cylinder" rgba="0 .6 1 1" size=".01 .04" pos="-.00085 0 0"/>
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<geom type="cylinder" rgba="0 .6 1 1" size=".004 .015" zaxis="1 0 0" pos=".01415 0 0"/>
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</body>
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</worldbody>
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<keyframe>
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<key qpos="0 0 0 1 0 0 1" qvel="0 0 0 0 20 .1"/>
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</keyframe>
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</mujoco>
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