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Running on Zero
Running on Zero
| <mujoco model="pendulum"> | |
| <include file="./common/visual.xml"/> | |
| <include file="./common/skybox.xml"/> | |
| <include file="./common/materials.xml"/> | |
| <option timestep="0.02"> | |
| <flag contact="disable" energy="enable"/> | |
| </option> | |
| <worldbody> | |
| <light name="light" pos="0 0 2"/> | |
| <geom name="floor" size="2 2 .2" type="plane" material="grid"/> | |
| <camera name="fixed" pos="0 -1.5 2" xyaxes='1 0 0 0 1 1'/> | |
| <camera name="lookat" mode="targetbodycom" target="pole" pos="0 -2 1"/> | |
| <body name="pole" pos="0 0 .6"> | |
| <joint name="hinge" type="hinge" axis="0 1 0" damping="0.1"/> | |
| <geom name="base" material="decoration" type="cylinder" fromto="0 -.03 0 0 .03 0" size="0.021" mass="0"/> | |
| <geom name="pole" material="self" type="capsule" fromto="0 0 0 0 0 0.5" size="0.02" mass="0"/> | |
| <geom name="mass" material="effector" type="sphere" pos="0 0 0.5" size="0.05" mass="1"/> | |
| </body> | |
| </worldbody> | |
| <actuator> | |
| <motor name="torque" joint="hinge" gear="1" ctrlrange="-1 1" ctrllimited="true"/> | |
| </actuator> | |
| </mujoco> | |