| |
| |
| |
| |
| |
|
|
| <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> |
|
|
