<?xml version="1.0" ?>
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<!-- |    This document was autogenerated by xacro from /home/lucas/UTFPR/IC/ic2022/ic_git/conical_pendulum_MJCF/model/pendulum.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<mujoco model="conical_pendulum">
  <asset>
    <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
    <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="2 2" texture="texplane"/>
  </asset>
  <option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
    <!-- <flags solverstat="enable" energy="enable"/>-->
  </option>
  <worldbody>
    <light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
    <geom condim="3" friction="1 .1 .1" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="2 2 0.125" type="plane"/>
    <body name="link_rope" pos="0 0 3">
      <site name="end1" pos="0 0 0" size="0.01" type="sphere"/>
      <body name="esfera" pos="0 0 -2">
        <site name="end2" pos="0 0 0" size="0.01" type="sphere"/>
        <joint axis="1 0 0" damping="0.1" name="amarraX" pos="0 0 2" type="hinge"/>
        <joint axis="0 1 0" damping="0.1" name="amarraY" pos="0 0 2" type="hinge"/>
        <joint axis="0 0 1" damping="0.1" name="amarraZ" pos="0 0 2" type="hinge"/>
        <geom name="sphere_geom" rgba="1 0 0 1" size="0.2" type="sphere"/>
        <inertial diaginertia="16.000000000000004 16.000000000000004 16.000000000000004" mass="1000" pos="0 0 0"/>
      </body>
    </body>
    <site name="end3" pos="0 0 0" size="0.01" type="sphere"/>
  </worldbody>
  <actuator>
    <motor joint="amarraX" name="aX"/>
    <motor joint="amarraY" name="aY"/>
    <motor joint="amarraZ" name="aZ"/>
  </actuator>
  <tendon>
    <spatial limited="false" range="0 0.6" rgba="0 1 0 1" width="0.005">
      <site site="end1"/>
      <site site="end2"/>
    </spatial>
  </tendon>
  <tendon>
    <spatial limited="false" rgba="0 0 1 1" width="0.005">
      <site site="end1"/>
      <site site="end3"/>
    </spatial>
  </tendon>
</mujoco>

