Taylor Howell
96dda6ea75
PiperOrigin-RevId: 745096883 Change-Id: Ib9acb727fbbfc6b0b0323ee6a889053a7a878056
56 lines
1.9 KiB
XML
56 lines
1.9 KiB
XML
<mujoco model="fixed_site">
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<worldbody>
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<body>
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<joint name="joint0" type="hinge" axis="0 1 0"/>
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<geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
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<site name="site0" pos="0.25 0 0.1" size="0.025"/>
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<body pos="0.5 0 0">
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<joint name="joint1" type="hinge" axis="0 1 0"/>
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<geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
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<site name="site1" pos="0.25 0 0.1" size="0.025"/>
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<body pos="0.5 0 0">
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<joint name="joint2" type="hinge" axis="0 1 0"/>
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<geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
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<site name="site2" pos="0.25 0 0.1" size="0.025"/>
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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 name="spatial0" width="0.0125">
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<site site="site0"/>
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<site site="site1"/>
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<site site="site2"/>
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</spatial>
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<spatial name="spatial1" width="0.0125" actuatorfrclimited="true" actuatorfrcrange="-1 1">
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<site site="site1"/>
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<site site="site2"/>
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</spatial>
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<fixed name="fixed0" actuatorfrclimited="true" actuatorfrcrange="-10 10">
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<joint joint="joint0" coef=".1"/>
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<joint joint="joint1" coef=".2"/>
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<joint joint="joint2" coef=".3"/>
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</fixed>
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<fixed name="fixed1" actuatorfrclimited="true" actuatorfrcrange="0 1">
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<joint joint="joint0" coef=".1"/>
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<joint joint="joint2" coef=".3"/>
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</fixed>
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</tendon>
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<actuator>
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<motor tendon="spatial0"/>
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<motor tendon="spatial0"/>
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<motor tendon="spatial0"/>
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<motor tendon="spatial1"/>
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<motor tendon="spatial1"/>
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<motor tendon="fixed0"/>
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<motor tendon="fixed1"/>
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<motor tendon="fixed1"/>
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</actuator>
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<sensor>
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<tendonactuatorfrc tendon="spatial0"/>
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<tendonactuatorfrc tendon="spatial1"/>
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<tendonactuatorfrc tendon="fixed0"/>
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<tendonactuatorfrc tendon="fixed1"/>
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</sensor>
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</mujoco>
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