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https://github.com/bulletphysics/bullet3
synced 2024-12-14 13:50:04 +00:00
76dcf3a751
[mjcf importer] add rudimentary support for inertial frame computation, for 'fromto' capsules.
27 lines
1.3 KiB
XML
27 lines
1.3 KiB
XML
<mujoco model="inverted pendulum">
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<compiler inertiafromgeom="true"/>
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<default>
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<joint armature="0" damping="1" limited="true"/>
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<geom friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
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<tendon/>
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<motor ctrlrange="-3 3"/>
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</default>
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<option gravity="0 0 -9.81" integrator="RK4" timestep="0.02"/>
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<size nstack="3000"/>
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<worldbody>
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<!--geom name="ground" type="plane" pos="0 0 0" /-->
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<!-- <geom name="rail" pos="0 0 0" quat="0.707 0 0.707 0" rgba="0.3 0.3 0.7 1" size="0.02 1" type="capsule"/> /-->
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<body name="cart1" pos="0 0 0">
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<joint axis="1 0 0" limited="true" name="slider" pos="0 0 0" range="-1 1" type="slide"/>
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<geom name="cart" pos="0 0 0" quat="0.707 0 0.707 0" size="0.1 0.1" type="capsule"/>
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<body name="pole" pos="0 0 0">
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<joint axis="0 1 0" name="hinge" pos="0 0 0" range="-90 90" type="hinge"/>
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<geom fromto="0 0 0 0.001 0 0.6" name="cpole" rgba="0 0.7 0.7 1" size="0.049 0.3" type="capsule"/>
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<!-- <body name="pole2" pos="0.001 0 0.6"><joint name="hinge2" type="hinge" pos="0 0 0" axis="0 1 0"/><geom name="cpole2" type="capsule" fromto="0 0 0 0 0 0.6" size="0.05 0.3" rgba="0.7 0 0.7 1"/><site name="tip2" pos="0 0 .6"/></body>-->
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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 gear="100" joint="slider" name="slide"/>
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</actuator>
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</mujoco> |