Haroon Qureshi
b17f4b26dc
PiperOrigin-RevId: 812708484 Change-Id: Icba94b128c89097703611ac4f6974f6d1cb19b4d
35 lines
908 B
XML
35 lines
908 B
XML
<mujoco>
|
|
<visual>
|
|
<global elevation="-20"/>
|
|
</visual>
|
|
|
|
<worldbody>
|
|
<geom type="plane" size="1 1 .1"/>
|
|
<light pos="0 -.2 2" dir="0 1 -4" diffuse="1 1 1"/>
|
|
<body pos="0 0 .8">
|
|
<joint type="slide" stiffness="1000"/>
|
|
<geom size=".05" mass="20"/>
|
|
<site name="hook" pos="0 0 -.05"/>
|
|
</body>
|
|
|
|
<body pos="-.15 -.15 .3">
|
|
<joint name="hinge" type="hinge" axis="0 0 1" damping=".5"/>
|
|
<geom type="cylinder" size=".01" fromto="0 0 0 0 0 .1"/>
|
|
<geom type="capsule" size=".01" fromto="0 0 0 .25 0 0"/>
|
|
<geom size=".02" pos=".25 0 0"/>
|
|
<site name="corner" pos=".25 0 .02"/>
|
|
</body>
|
|
</worldbody>
|
|
|
|
<tendon>
|
|
<spatial limited="true" range="0 .5" width=".005">
|
|
<site site="hook"/>
|
|
<site site="corner"/>
|
|
</spatial>
|
|
</tendon>
|
|
|
|
<actuator>
|
|
<general joint="hinge" biasprm="2" biastype="affine"/>
|
|
</actuator>
|
|
</mujoco>
|