File size: 1,034 Bytes
2c55b92 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 | <mujoco>
<visual>
<global elevation="0"/>
</visual>
<default>
<position ctrlrange="-.2 .2"/>
<joint axis="1 0 0" type="slide"/>
</default>
<option integrator="implicitfast"/>
<worldbody>
<light pos="0 0 2"/>
<body pos="0 0 .15">
<joint name="0"/>
<geom size=".05"/>
</body>
<body>
<joint name="1"/>
<geom mass="1" size=".05"/>
</body>
<body pos="0 0 -.15">
<joint name="2"/>
<geom mass="1" size=".05"/>
</body>
<body pos="0 0 -.3">
<joint name="3"/>
<geom mass="1" size=".05"/>
</body>
</worldbody>
<actuator>
<position name="r=1/3" joint="0" dampratio=".333" kp="10"/>
<position name="r=1" joint="1" dampratio="1" kp="10"/>
<position name="r=3" joint="2" dampratio="3" kp="10"/>
<!-- transmission increased by 10: reduce kp by 10^2 -->
<position name="r=1, g=10" joint="3" dampratio="1" kp=".1" gear="10" ctrlrange="-2 2"/>
</actuator>
</mujoco>
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