Yuval Tassa
7e97caaafd
PiperOrigin-RevId: 650997405 Change-Id: I45c3725dacb6ccf17977953a9ffed717c927b786
45 lines
1.8 KiB
XML
45 lines
1.8 KiB
XML
<mujoco>
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<compiler>
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<lengthrange mode="all"/>
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</compiler>
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<worldbody>
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<light pos="0 0 10"/>
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<site name="a" size=".02"/>
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<replicate offset="0 .1 0" count="17">
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<body pos="1 0 1">
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<joint axis="0 -1 0" range="0 90"/>
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<geom type="capsule" size=".02" fromto="0 0 0 0 0 -1"/>
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<site name="b" pos="0 0 -1"/>
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</body>
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</replicate>
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</worldbody>
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<tendon>
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<spatial name="b">
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<site site="a"/>
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<site site="b"/>
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</spatial>
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</tendon>
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<actuator>
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<position name="b00" tendon="b00" ctrlrange="0 3" kp="100" dampratio="1"/>
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<position name="b01" tendon="b01" ctrlrange="0 3" kp="100" dampratio="1"/>
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<position name="b02" tendon="b02" ctrlrange="0 3" kp="100" dampratio="1"/>
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<position name="b03" tendon="b03" ctrlrange="0 3" kp="100" dampratio="1"/>
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<position name="b04" tendon="b04" ctrlrange="0 3" kp="100" dampratio="1"/>
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<position name="b05" tendon="b05" ctrlrange="0 3" kp="100" dampratio="1"/>
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<position name="b06" tendon="b06" ctrlrange="0 3" kp="100" dampratio="1"/>
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<position name="b07" tendon="b07" ctrlrange="0 3" kp="100" dampratio="1"/>
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<position name="b08" tendon="b08" ctrlrange="0 3" kp="100" dampratio="1"/>
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<position name="b09" tendon="b09" ctrlrange="0 3" kp="100" dampratio="1"/>
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<position name="b10" tendon="b10" ctrlrange="0 3" kp="100" dampratio="1"/>
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<position name="b11" tendon="b11" ctrlrange="0 3" kp="100" dampratio="1"/>
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<position name="b12" tendon="b12" ctrlrange="0 3" kp="100" dampratio="1"/>
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<position name="b13" tendon="b13" ctrlrange="0 3" kp="100" dampratio="1"/>
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<position name="b14" tendon="b14" ctrlrange="0 3" kp="100" dampratio="1"/>
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<position name="b15" tendon="b15" ctrlrange="0 3" kp="100" dampratio="1"/>
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<position name="b16" tendon="b16" ctrlrange="0 3" kp="100" dampratio="1"/>
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</actuator>
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</mujoco>
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