Taylor Howell
0f381a9ebd
PiperOrigin-RevId: 695334356 Change-Id: I6590ed6bdd4a8adc53d5c4e2641f472f7439cedc
38 lines
1.2 KiB
XML
38 lines
1.2 KiB
XML
<!-- Copyright 2021 DeepMind Technologies Limited
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<mujoco model="2-link 1-muscle arm">
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<worldbody>
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<body>
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<geom type="capsule" size="0.01" fromto="0 0 0 1 0 0"/>
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<site name="s0" pos="0 0 0.01"/>
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<joint type="slide" axis="1 0 0"/>
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<body pos="1 0 0">
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<geom type="capsule" size="0.01" fromto="0 0 0 1 0 0"/>
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<site name="s1" pos="1 0 0.01"/>
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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="tendon" width="0.01">
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<site site="s0"/>
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<site site="s1"/>
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</spatial>
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</tendon>
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<actuator>
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<muscle tendon="tendon" lengthrange="0 2" force="1" ctrllimited="true" ctrlrange="0 1"/>
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</actuator>
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</mujoco>
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