File size: 904 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 | <mujoco>
<!-- linear dynamical system with fixed, anaylticaly computable derivatives -->
<default>
<joint axis="1 0 0" damping=".01" stiffness=".1"/>
<geom type="box" size=".05 .05 .05"/>
</default>
<option>
<flag gravity="disable"/>
</option>
<worldbody>
<light pos="0 0 1"/>
<body>
<joint name="joint0"/>
<geom/>
<body pos=".15 0 0">
<joint name="joint1"/>
<site name="accelerometer" pos="0 0 -1"/>
<geom/>
<body pos=".15 0 0">
<joint/>
<geom/>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor joint="joint0" ctrllimited="true" ctrlrange="-1 1"/>
<motor joint="joint1" ctrllimited="true" ctrlrange="-1 1"/>
</actuator>
<sensor>
<jointvel joint="joint1"/>
<jointpos joint="joint0"/>
<accelerometer site="accelerometer"/>
</sensor>
</mujoco>
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