Erik Frey
b3ccf67ebf
PiperOrigin-RevId: 588304729 Change-Id: I58075383e6eed64ae00cea305a568eba6465b0b0
54 lines
1.6 KiB
XML
54 lines
1.6 KiB
XML
<!-- For validating constraint dynamics:
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* connect, weld, joint constraints
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* collision and joint limits for ball and 1d joints
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* solref, solimp
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-->
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<mujoco>
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<option timestep="0.02"/>
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<default>
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<default class="box">
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<geom type="box" size=".2" fromto="0 0 0 0 -2 0" rgba=".4 .7 .6 .3" contype="0"/>
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</default>
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</default>
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<worldbody>
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<geom pos="0 0 -1" type="plane" size="10 10 .01"/>
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<body name="anchor1" pos="-3 0 0"/>
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<body name="beam1" pos="-3 0 0">
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<joint name="joint1" type="ball" range="0 45" solreflimit="0.03 0.9" solimplimit="0.89 0.9 0.01 2.1"/>
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<geom class="box"/>
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</body>
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<body name="anchor2" pos="-1 0 0"/>
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<body name="beam2" pos="-1 0 0">
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<freejoint/>
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<geom class="box"/>
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</body>
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<body name="beam3" pos="1 0 0">
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<joint name="joint3" axis="1 0 0" type="hinge" range="-20 20"/>
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<geom class="box"/>
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</body>
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<body name="beam4" pos="3 0 0">
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<joint name="joint4" axis="1 0 0" type="hinge" damping="1.0"/> <!-- tests no joint range -->
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<geom class="box"/>
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</body>
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</worldbody>
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<equality>
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<connect name="connect" body1="anchor1" body2="beam1" anchor="1 0 -1" />
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<weld name="weld" body1="anchor2" body2="beam2" relpose="0 0 0 1 -.3 0 0" torquescale="0.002" anchor="0 -2 0"/>
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<joint name="joint" joint1="joint3" joint2="joint4" polycoef="0.5 -1 0.1 0.15 0.2" />
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</equality>
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<actuator>
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<position ctrlrange="-20 20" gear="500" joint="joint1" name="act1"/>
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<motor gear="50000" joint="joint3" name="act2"/>
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<motor gear="75000" joint="joint4" name="act3"/>
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</actuator>
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</mujoco>
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