Yuval Tassa
08edde5fd8
PiperOrigin-RevId: 719916567 Change-Id: I7f74bd3c3864f43f5f68d458d5b128cfee1d7e6c
35 lines
1.3 KiB
XML
35 lines
1.3 KiB
XML
<mujoco>
|
|
<worldbody>
|
|
<body name="link1">
|
|
<!-- inertia of link1 is 1.0 -->
|
|
<joint name="link1" axis="0 -1 0"/>
|
|
<geom type="capsule" size=".02" fromto="0 0 0 1 0 0" mass="0"/>
|
|
<geom type="sphere" size=".1" mass="1" pos="1 0 0"/>
|
|
</body>
|
|
<body name="motor1">
|
|
<!-- inertia of motor1 is 1/12 * m * (0.2^2 + 0.2^2) = 0.2
|
|
see https://en.wikipedia.org/wiki/List_of_moments_of_inertia -->
|
|
<joint name="motor1" axis="0 -1 0"/>
|
|
<geom type="box" size=".1 .1 .1" mass="30" contype="0" conaffinity="0"/>
|
|
</body>
|
|
|
|
<body name="link2" pos="1.5 0 0">
|
|
<!-- armature from reflected inertia of motor1 is 0.2 * 3^2 = 1.8 -->
|
|
<joint name="link2" armature="1.8" axis="0 -1 0"/>
|
|
<geom type="capsule" size=".02" fromto="0 0 0 1 0 0" mass="0"/>
|
|
<geom type="sphere" size=".1" mass="1" pos="1 0 0"/>
|
|
</body>
|
|
</worldbody>
|
|
|
|
<equality>
|
|
<!-- gear ratio between motor1 and link1 is 3:1 -->
|
|
<joint joint1="motor1" joint2="link1" polycoef="0 3"/>
|
|
</equality>
|
|
|
|
<actuator>
|
|
<position name="link1" joint="motor1" kp="1" kv=".1" ctrlrange="-5 5"/>
|
|
<!-- actuators are made equivalent by setting link2 gear to link1 gear ratio -->
|
|
<position name="link2" joint="link2" kp="1" kv=".1" ctrlrange="-5 5" gear="3"/>
|
|
</actuator>
|
|
</mujoco>
|