| <mujoco model="energy conserving pendulum"> |
| <option integrator="RK4"> |
| <flag constraint="disable" energy="enable"/> |
| </option> |
|
|
| <worldbody> |
| <light pos="0 0 2"/> |
| <geom pos="0 0 -.5" type="plane" size="1 1 .01"/> |
| <body pos="0 0 0"> |
| <joint type="hinge" axis="0 1 0"/> |
| <geom type="cylinder" size="0.02" fromto="0 -.02 0 0 .02 0"/> |
| <geom type="capsule" size="0.02" fromto="0 0 0 .1 0 0"/> |
| <body pos="0.1 0 0"> |
| <joint type="slide" axis="1 0 0" stiffness="200"/> |
| <geom type="capsule" size="0.015" fromto="-.1 0 0 .1 0 0"/> |
| <body pos=".1 0 0"> |
| <joint type="ball"/> |
| <geom type="box" size=".02" fromto="0 0 0 0 .1 0"/> |
| <body pos="0 .1 0"> |
| <joint axis="1 0 0"/> |
| <geom type="capsule" size="0.02" fromto="0 0 0 0 .1 0"/> |
| </body> |
| </body> |
| </body> |
| </body> |
| </worldbody> |
| </mujoco> |
|
|
