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<mujoco>
<worldbody>
<body name="damping in the joints">
<joint type="slide" axis="0 0 1" damping="10"/>
<geom size=".03"/>
<body>
<joint axis="0 1 0" damping=".1"/>
<geom type="capsule" size=".01" fromto="0 0 0 .1 0 0"/>
</body>
</body>
<body name="damping in the actuators" pos="0 0.1 0">
<joint name="slide" type="slide" axis="0 0 1"/>
<geom size=".03"/>
<body>
<joint name="hinge" axis="0 1 0"/>
<geom type="capsule" size=".01" fromto="0 0 0 .1 0 0"/>
</body>
</body>
</worldbody>
<actuator>
<general joint="slide" biastype="affine" biasprm="0 0 -10"/>
<general joint="hinge" biastype="affine" biasprm="0 0 -0.1"/>
</actuator>
</mujoco>
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