| <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> |
|
|
