Saran Tunyasuvunakool
73 lines
2.5 KiB
XML
73 lines
2.5 KiB
XML
<mujoco model="test">
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<compiler coordinate="global"/>
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<default>
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<geom rgba=".9 .7 .1 1" size="0.01"/>
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<site type="sphere" rgba=".9 .9 .9 1" size="0.005"/>
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<joint type="hinge" axis="0 1 0" limited="true" range="0 60" solimplimit="0.95 0.95 0.1"/>
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</default>
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<visual>
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<headlight diffuse=".7 .7 .7"/>
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</visual>
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<worldbody>
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<body>
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<geom type="cylinder" fromto="-0.03 0 0.2 -0.03 0 0.15"
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size="0.03" rgba=".2 .2 .5 1" density="5000"/>
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<joint type="slide" pos="-0.03 0 0.2" axis="0 0 1" limited="false"/>
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<site name="s1" pos="-0.03 0 0.2"/>
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</body>
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<site name="s2" pos="-0.03 0 0.32"/>
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<body>
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<geom type="capsule" fromto="0 0 0.3 0.1 0 0.3"/>
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<geom name="g1" type="cylinder" fromto="0.0 0.015 0.3 0.0 -0.015 0.3"
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size="0.02" rgba=".3 .9 .3 .4"/>
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<joint pos="0 0 0.3"/>
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<site name="s3" pos="0.02 0 0.32"/>
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<body>
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<geom type="capsule" fromto="0.1 0 0.3 0.2 0 0.3"/>
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<geom name="g2" type="cylinder" fromto="0.1 0.015 0.3 0.1 -0.015 0.3"
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size="0.02" rgba=".3 .9 .3 .4"/>
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<joint pos="0.1 0 0.3"/>
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<site name="s4" pos="0.13 0 0.31"/>
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<site name="s5" pos="0.15 0 0.32"/>
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<site name="side2" pos="0.1 0 0.33"/>
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<body>
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<geom type="capsule" fromto="0.2 0 0.3 0.27 0 0.3"/>
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<geom name="g3" type="cylinder" fromto="0.2 0.015 0.3 0.2 -0.015 0.3"
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size="0.02" rgba=".3 .9 .3 .4"/>
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<joint pos="0.2 0 0.3"/>
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<site name="s6" pos="0.23 0 0.31"/>
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<site name="side3" pos="0.2 0 0.33"/>
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</body>
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</body>
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</body>
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</worldbody>
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<tendon>
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<spatial width="0.002" rgba=".95 .3 .3 1" limited="true" range="0 0.33">
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<site site="s1"/>
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<site site="s2"/>
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<geom geom="g1"/>
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<site site="s3"/>
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<pulley divisor="2"/>
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<site site="s3"/>
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<geom geom="g2" sidesite="side2"/>
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<site site="s4"/>
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<pulley divisor="2"/>
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<site site="s3"/>
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<geom geom="g2" sidesite="side2"/>
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<site site="s5"/>
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<geom geom="g3" sidesite="side3"/>
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<site site="s6"/>
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</spatial>
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</tendon>
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</mujoco>
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