Yuval Tassa
7cc42ecf2a
Keeping this rarely-used setting complicates the compiler logic and is blocking future improvements. In order to convert older models which used this option, load and save them in MuJoCo 2.3.3 or older. PiperOrigin-RevId: 521739137 Change-Id: If0cb40d5db4879a4db9318cc2be258a7923e6e85
69 lines
2.4 KiB
XML
69 lines
2.4 KiB
XML
<mujoco model="tendon">
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<compiler autolimits="true"/>
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<visual>
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<headlight diffuse="0.7 0.7 0.7"/>
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</visual>
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<default class="main">
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<joint axis="0 0 1" solimplimit="0.95 0.95 0.1 0.5 2" range="0 60"/>
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<geom size="0.01 0 0" rgba="0.9 0.7 0.1 1"/>
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<site rgba="0.9 0.9 0.9 1"/>
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</default>
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<worldbody>
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<body pos="-0.03 0 0.175">
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<joint pos="0 0 0.025" limited="false" type="slide"/>
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<geom size="0.03 0.025" type="cylinder" density="5000" rgba="0.2 0.2 0.5 1"/>
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<site name="s1" pos="0 0 0.025"/>
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</body>
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<site name="s2" pos="-0.03 0 0.32"/>
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<body pos="0.0242857 0 0.3" quat="1 1 1 1">
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<joint pos="0 0 -0.0242857"/>
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<geom size="0.01 0.05" pos="0 0 0.0257143" quat="0 -1 -1 0" type="capsule"/>
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<geom name="g1" size="0.02 0.015" pos="0 0 -0.0242857" quat="0 -1 0 -1" type="cylinder" rgba=".3 .9 .3 .4"/>
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<site name="s3" pos="0 0.02 -0.00428571" quat="0.5 -0.5 -0.5 -0.5"/>
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<body pos="0 0 0.1">
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<joint pos="0 0 -0.0242857"/>
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<geom size="0.01 0.05" pos="0 0 0.0257143" quat="0 -1 -1 0" type="capsule"/>
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<geom name="g2" size="0.02 0.015" pos="0 0 -0.0242857" quat="0 -1 0 -1" type="cylinder" rgba=".3 .9 .3 .4"/>
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<site name="s4" pos="0 0.01 0.00571429" quat="0.5 -0.5 -0.5 -0.5"/>
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<site name="s5" pos="0 0.02 0.0257143" quat="0.5 -0.5 -0.5 -0.5"/>
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<site name="side2" pos="0 0.03 -0.0242857" quat="0.5 -0.5 -0.5 -0.5"/>
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<body pos="0 0 0.09">
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<joint pos="0 0 -0.0143443"/>
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<geom size="0.01 0.035" pos="0 0 0.0206557" quat="0 1 1 0" type="capsule"/>
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<geom name="g3" size="0.02 0.015" pos="0 0 -0.0143443" quat="0 1 0 1" type="cylinder" rgba=".3 .9 .3 .4"/>
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<site name="s6" pos="0 0.01 0.0156557" quat="1 -1 -1 -1"/>
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<site name="side3" pos="0 0.03 -0.0143443" quat="1 -1 -1 -1"/>
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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 range="0 0.33" width="0.002" rgba=".95 .3 .3 1">
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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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