File size: 715 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 | <mujoco>
<compiler autolimits="true"/>
<option integrator="implicitfast"/>
<worldbody>
<geom type="plane" size="1 1 .01"/>
<light pos="0 0 2"/>
<body pos="0 0 .3">
<joint name="hinge" damping=".01" actuatorfrcrange="-.4 .4"/>
<geom type="capsule" size=".01" fromto="0 0 0 .2 0 0"/>
<geom size=".03" pos=".2 0 0"/>
</body>
</worldbody>
<actuator>
<motor name="motor" joint="hinge" ctrlrange="-1 1"/>
<damper name="damper" joint="hinge" kv="10" ctrlrange="0 1"/>
</actuator>
<sensor>
<actuatorfrc name="motor" actuator="motor"/>
<actuatorfrc name="damper" actuator="damper"/>
<jointactuatorfrc name="hinge" joint="hinge"/>
</sensor>
</mujoco>
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