Yuval Tassa
f204e03575
PiperOrigin-RevId: 530073629 Change-Id: I1fbfa55bc1ec9bbf11ab5a33771ad56537a16c07
67 lines
1.8 KiB
XML
67 lines
1.8 KiB
XML
<mujoco model="tendon">
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<default>
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<joint axis="0 1 0" range="0 60" limited="true"/>
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<geom type="capsule" size=".01" rgba=".9 .7 .1 1"/>
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<site rgba=".9 .9 .9 1"/>
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<default class="visual_cylinder">
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<geom type="cylinder" fromto="0 .015 0 0 -.015 0" size=".02" rgba=".3 .9 .3 .4"/>
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</default>
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</default>
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<worldbody>
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<light pos="0 0 1"/>
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<body name="weight" pos="-.03 0 .175">
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<joint axis="0 0 1" pos="0 0 .025" type="slide"/>
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<geom type="cylinder" size=".03 .025" density="5000" rgba=".2 .2 .5 1"/>
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<site name="s1" pos="0 0 .025"/>
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</body>
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<site name="s2" pos="-.03 0 .33"/>
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<body pos="0 0 .3">
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<joint/>
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<geom name="g1" class="visual_cylinder"/>
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<geom fromto="0 0 0 .1 0 0"/>
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<site name="s3" pos=".02 0 .03"/>
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<body pos=".1 0 0">
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<joint/>
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<geom name="g2" class="visual_cylinder"/>
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<geom fromto="0 0 0 .1 0 0"/>
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<site name="s4" pos=".03 0 .01"/>
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<site name="s5" pos=".05 0 .02"/>
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<site name="side2" pos="0 0 .03"/>
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<body pos=".1 0 0">
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<joint/>
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<geom name="g3" class="visual_cylinder"/>
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<geom fromto="0 0 0 .1 0 0"/>
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<site name="s6" pos=".03 0 .01"/>
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<site name="side3" pos="0 0 .03"/>
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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 .33" limited="true" width=".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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