| | <mujoco> |
| | |
| | <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> |
| |
|
