| <mujoco model="LQR"> |
| <include file="./common/skybox.xml"/> |
| <include file="./common/visual.xml"/> |
| <include file="./common/materials.xml"/> |
|
|
| <option timestep=".03"/> |
|
|
| <default> |
| <joint type="slide" axis="0 1 0"/> |
| <geom type="sphere" size=".1" material="self"/> |
| <site size=".01"/> |
| <tendon width=".02" material="self"/> |
| </default> |
|
|
| <option> |
| <flag constraint="disable"/> |
| </option> |
|
|
| <worldbody> |
| <light name="light" pos="0 0 2"/> |
| <camera name="cam0" pos="-1.428 -0.311 0.856" xyaxes="0.099 -0.995 0.000 0.350 0.035 0.936"/> |
| <camera name="cam1" pos="1.787 2.452 4.331" xyaxes="-1 0 0 0 -0.868 0.497"/> |
| <geom name="floor" size="4 1 .2" type="plane" material="grid"/> |
| <geom name="origin" pos="2 0 .05" size="2 .003 .05" type="box" rgba=".5 .5 .5 .5"/> |
| </worldbody> |
| </mujoco> |
|
|
