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pendulum_simple_position.xml
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<mujoco>
<option gravity="0 0 -9.81" timestep="0.0005" /> <!-- integrator="implicit" /> -->
<asset>
<material name="blue" rgba="0 0 1 1" />
<material name="green" rgba="0 1 0 1" />
<material name="red" rgba="1 0 0 1" />
<material name="white" rgba="1 1 1 1" />
</asset>
<worldbody>
<camera target="link_1" pos="-4 -4 3" euler="0 -45 -90" mode="trackcom" />
<geom type="plane" size="10 10 0.1" pos="0 0 -1.6" rgba=".3 .3 .3 1" />
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1" />
<body name="link_1" pos="0 0 0" euler="90 0 0">
<site name="site_1" type="cylinder" size=".05 .1" pos=" 0 0 0" euler="0 90 0" />
<joint name="hinge_1" type="hinge" axis="1 0 0" />
<geom name="g_link_1" type="cylinder" size=".1 .5" pos="0 0 .5" euler="0 0 0" material="red" mass="1" />
<site name="site_2" type="cylinder" size=".05 .1" pos=" 0 0 1" euler="0 90 0" />
<body name="link_2" pos=".2 0 1" euler="0 0 0">
<joint name="hinge_2" type="hinge" axis="1 0 0" />
<geom name="g_link_2" type="cylinder" size=".1 .5" pos="0 0 .5" euler="0 0 0" material="green" mass="1" />
<site name="site_3" type="cylinder" size=".05 .1" pos="0 0 1" euler="0 90 0" />
<body name="link_3" pos=".2 0 1" euler="0 0 0">
<joint name="hinge_3" type="hinge" axis="1 0 0" />
<geom name="g_link_3" type="cylinder" size=".1 .5" pos="0 0 .5" euler="0 0 0" material="blue" mass="1" />
<geom name="end_mass" type="sphere" size=".25" pos="0 0 1" euler="0 0 0" material="blue" mass="1" />
</body>
</body>
</body>
<body name="my_floating_body" pos=".5 -2 1" euler="10 10 10">
<joint name="box_free_j" type="free" />
<geom type="box" size="0.1 0.1 0.1" mass="1" />
</body>
</worldbody>
<actuator>
<position name="pos_servo_1" joint="hinge_1" kp="100" />
<position name="pos_servo_2" joint="hinge_2" kp="100" />
<position name="pos_servo_3" joint="hinge_3" kp="100" />
</actuator>
<sensor>
<jointpos name="pos_sensor_1" joint="hinge_1" />
<jointpos name="pos_sensor_2" joint="hinge_2" />
<jointpos name="pos_sensor_3" joint="hinge_3" />
</sensor>
</mujoco>