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<mujoco model="acrobot"> |
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<include file="./common/visual.xml"/> |
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<include file="./common/skybox.xml"/> |
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<include file="./common/materials.xml"/> |
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<default> |
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<joint damping=".05"/> |
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<geom type="capsule" mass="1"/> |
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</default> |
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<option timestep="0.01" integrator="RK4"> |
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<flag constraint="disable" energy="enable"/> |
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</option> |
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<worldbody> |
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<light name="light" pos="0 0 6"/> |
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<geom name="floor" size="3 3 .2" type="plane" material="grid"/> |
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<site name="target" type="sphere" pos="0 0 4" size="0.2" material="target" group="3"/> |
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<camera name="fixed" pos="0 -6 2" zaxis="0 -1 0"/> |
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<camera name="lookat" mode="targetbodycom" target="upper_arm" pos="0 -2 3"/> |
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<body name="upper_arm" pos="0 0 2"> |
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<joint name="shoulder" type="hinge" axis="0 1 0"/> |
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<geom name="upper_arm_decoration" material="decoration" type="cylinder" fromto="0 -.06 0 0 .06 0" size="0.051" mass="0"/> |
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<geom name="upper_arm" fromto="0 0 0 0 0 1" size="0.05" material="self"/> |
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<body name="lower_arm" pos="0 0 1"> |
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<joint name="elbow" type="hinge" axis="0 1 0"/> |
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<geom name="lower_arm" fromto="0 0 0 0 0 1" size="0.049" material="self"/> |
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<site name="tip" pos="0 0 1" size="0.01"/> |
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</body> |
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</body> |
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</worldbody> |
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<actuator> |
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<motor name="elbow" joint="elbow" gear="2" ctrllimited="true" ctrlrange="-1 1"/> |
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</actuator> |
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</mujoco> |
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