Yuval Tassa
a276c49c30
PiperOrigin-RevId: 556780590 Change-Id: Ide12cf390920f9efe6f79cc9f864a480ce5f256d
27 lines
715 B
XML
27 lines
715 B
XML
<mujoco>
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<compiler autolimits="true"/>
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<option integrator="implicitfast"/>
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<worldbody>
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<geom type="plane" size="1 1 .01"/>
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<light pos="0 0 2"/>
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<body pos="0 0 .3">
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<joint name="hinge" damping=".01" actuatorfrcrange="-.4 .4"/>
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<geom type="capsule" size=".01" fromto="0 0 0 .2 0 0"/>
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<geom size=".03" pos=".2 0 0"/>
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</body>
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</worldbody>
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<actuator>
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<motor name="motor" joint="hinge" ctrlrange="-1 1"/>
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<damper name="damper" joint="hinge" kv="10" ctrlrange="0 1"/>
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</actuator>
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<sensor>
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<actuatorfrc name="motor" actuator="motor"/>
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<actuatorfrc name="damper" actuator="damper"/>
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<jointactuatorfrc name="hinge" joint="hinge"/>
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</sensor>
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</mujoco>
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