Baruch Tabanpour
dd841c9283
PiperOrigin-RevId: 575023489 Change-Id: I717333064ed4d6971a841bec60e8afd3019120a7
21 lines
647 B
XML
21 lines
647 B
XML
<mujoco model="cherry_pendulum">
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<option timestep="0.02" solver="CG" iterations="6" ls_iterations="6"/>
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<default>
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<geom contype="0" conaffinity="0"/>
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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="hinge" range="-45 45"/>
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<geom pos="0 0.5 0" size=".15" mass="1" type="sphere"/>
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<body pos="0 0.5 0">
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<joint axis="1 0 0" type="hinge"/>
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<geom pos="0 0.5 0" size=".15" mass="2" type="sphere"/>
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</body>
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<body pos="0 0.5 0">
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<joint axis="1 0 0" type="hinge"/>
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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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</worldbody>
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</mujoco>
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