| | <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"/> |
| | |
| | <position name="r=1, g=10" joint="3" dampratio="1" kp=".1" gear="10" ctrlrange="-2 2"/> |
| | </actuator> |
| | </mujoco> |
| |
|
