14 lines
516 B
XML
14 lines
516 B
XML
<mujoco model="python_balance">
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<option timestep="0.002" gravity="0 0 -9.81"/>
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<worldbody>
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<geom type="plane" size="3 3 .1"/>
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<body name="pendulum" pos="0 0 0.08">
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<joint name="balance_hinge" type="hinge" axis="0 1 0" range="-1.4 1.4" damping="0.05"/>
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<geom name="rod" type="capsule" fromto="0 0 0 0 0 1" size="0.05" mass="1" rgba="0.2 0.55 0.95 1"/>
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</body>
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</worldbody>
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<actuator>
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<motor name="balance_motor" joint="balance_hinge" ctrlrange="-100 100"/>
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</actuator>
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</mujoco>
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