File size: 1,284 Bytes
2c55b92 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 | <mujoco model="example">
<compiler angle="radian" autolimits="true"/>
<default class="main">
<geom rgba="0.8 0.6 0.4 1"/>
</default>
<asset>
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2="0.6 0.8 1" width="256" height="1536"/>
</asset>
<worldbody>
<light pos="0 1 1" dir="0 -0.707107 -0.707107" diffuse="1 1 1"/>
<body pos="0 0 1">
<joint pos="0 0 0" type="ball"/>
<geom size="0.06 0.2" pos="0 0 -0.2" type="capsule"/>
<body pos="0 0 -0.4">
<joint pos="0 0 0" axis="0 1 0"/>
<joint pos="0 0 0" axis="1 0 0"/>
<geom size="0.04 0.15" pos="0.15 0 0" quat="0.707107 0 -0.707107 0" type="capsule"/>
<body pos="0.3 0 0">
<joint pos="0 0 0" axis="0 1 0"/>
<joint pos="0 0 0" axis="0 0 1"/>
<geom size="0.1 0.08 0.02" pos="0.1 0 0" type="ellipsoid"/>
<site name="end1" pos="0.2 0 0" size="0.01"/>
</body>
</body>
</body>
<body pos="0.3 0 0.1">
<joint type="free"/>
<geom size="0.07 0.1" type="cylinder"/>
<site name="end2" pos="0 0 0.1" size="0.01"/>
</body>
</worldbody>
<tendon>
<spatial range="0 0.6" width="0.005">
<site site="end1"/>
<site site="end2"/>
</spatial>
</tendon>
</mujoco>
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