Yuval Tassa
769f37b653
PiperOrigin-RevId: 829361787 Change-Id: I6f64d8e25c4248cf32c18cd94d37ff5def78946e
55 lines
1.5 KiB
XML
55 lines
1.5 KiB
XML
<mujoco>
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<custom>
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<numeric name="duration" data="6.5"/>
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</custom>
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<option viscosity="60" gravity="0 0 -1">
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<flag energy="enable" sleep="enable" constraint="disable" contact="disable"/>
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</option>
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<worldbody>
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<body gravcomp="1">
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<geom type="box" size=".2 .2 .2"/>
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<freejoint/>
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<body pos="-.4 0 0" gravcomp="1">
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<geom type="cylinder" size="0.1" fromto="0 0 0 0 0 1"/>
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<joint type="slide" axis="0 0 1" springref="0.2" springdamper="0.1 1"/>
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</body>
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</body>
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<body pos="1 0 0">
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<geom type="box" size=".2 .2 .2"/>
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<body>
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<joint axis="1 0 0" springdamper="0.1 1"/>
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<geom type="capsule" size="0.1" fromto="0 0 0 0 0 1"/>
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<site name="1" pos="0 -.1 .5" size=".03" rgba="1 0 0 1"/>
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<body pos="0 0 1">
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<joint axis="1 0 0" springref="45" springdamper="0.1 1"/>
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<geom type="capsule" size="0.1" fromto="0 0 0 0 0 1"/>
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<site name="2" pos="0 -.1 .5" size=".03" rgba="1 0 0 1"/>
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</body>
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</body>
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</body>
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<body pos="2 0 0">
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<geom size=".3"/>
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<joint type="ball" stiffness="300" damping="30"/>
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<body name="angmom" pos=".2 0 0">
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<geom type="cylinder" size="0.1" fromto="0 0 0 0 0 1"/>
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<joint type="slide" axis="0 0 1" springref="0.2" stiffness="1000" damping="100"/>
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</body>
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</body>
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</worldbody>
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<tendon>
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<spatial width="0.01" armature="1">
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<site site="1"/>
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<site site="2"/>
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</spatial>
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</tendon>
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<sensor>
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<subtreeangmom body="angmom"/>
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</sensor>
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</mujoco>
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