19 lines
1.1 KiB
XML
19 lines
1.1 KiB
XML
<?xml version='1.0' encoding='utf-8'?>
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<mujoco model="motor_sysid">
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<compiler angle="radian" autolimits="true" />
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<option timestep="0.002" integrator="Euler" />
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<worldbody>
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<light pos="0 0 1" dir="0 0 -1" />
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<body name="base" pos="0 0 0.15">
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<geom type="cylinder" size="0.04 0.06" mass="0.921" rgba="0.3 0.3 0.3 1" contype="0" conaffinity="0" />
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<body name="arm" pos="0 0 0">
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<joint name="motor_joint" type="hinge" axis="0 0 1" range="-1.5708 1.5708" damping="0" armature="0.0027534181478216656" frictionloss="0" />
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<geom name="rotor_disk" type="cylinder" size="0.008 0.004" mass="0.03982640764507874" pos="0 0 0" rgba="0.6 0.6 0.6 1" contype="0" conaffinity="0" />
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<geom name="arm_load" type="capsule" size="0.004" fromto="0 0 0 -0.014 0.002 0.016" mass="0.021" rgba="0.8 0.3 0.1 1" contype="0" conaffinity="0" />
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</body>
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</body>
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</worldbody>
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<actuator>
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<general name="motor" joint="motor_joint" gear="0.3996683566447825" ctrllimited="true" ctrlrange="-1 1" dyntype="filter" dynprm="0.022300731564787457" />
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</actuator>
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</mujoco> |