Datasets:

introvoyz041
/

mujoco

	<!-- This file is a playground for understanding different rotations.
	Currently, two examples are given:
	- A rotation in the xy plane about a ball joint located in the corner of a box.
	- A rotation in the xy plane about a free joing located in the center of a box.
	-->

	<mujoco>
	<option density="1000">
	<flag gravity="disable"/>
	</option>

	<worldbody>
	<geom type="plane" size="10 10 .1" rgba="1 1 1 1"/>
	<light pos="0 0 20"/>
	<body name="body_ball" pos="0 0 .5">
	<geom type="box" size=".5 .5 .1" pos="0 0 0"/>
	<joint name="ball" pos=".5 .5 0" axis="0 0 1" type="ball"/>
	</body>
	<body name="body_free" pos="3 0 .5">
	<freejoint name="free"/>
	<geom type="box" size=".5 .5 .1" pos="0 0 0"/>
	</body>
	</worldbody>

	<actuator>
	<general name="ball" joint="ball" dyntype="integrator" gear="0 0 1" ctrllimited="true" ctrlrange="-100 100"/>
	<general name="free" joint="free" dyntype="integrator" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-100 100"/>
	</actuator>
	</mujoco>