File size: 1,873 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 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 | <mujoco model="tendon">
<default>
<joint axis="0 1 0" range="0 60" limited="true"/>
<geom type="capsule" size=".01" rgba=".9 .7 .1 1"/>
<site rgba=".9 .9 .9 1"/>
<default class="visual_cylinder">
<geom type="cylinder" fromto="0 .015 0 0 -.015 0" size=".02" rgba=".3 .9 .3 .4"/>
</default>
</default>
<worldbody>
<light pos="0 0 1"/>
<body name="weight" pos="-.03 0 .175">
<joint axis="0 0 1" pos="0 0 .025" type="slide"/>
<geom type="cylinder" size=".03 .025" density="5000" rgba=".2 .2 .5 1"/>
<site name="s1" pos="0 0 .025"/>
</body>
<site name="s2" pos="-.03 0 .33"/>
<body pos="0 0 .3">
<joint/>
<geom name="g1" class="visual_cylinder"/>
<geom fromto="0 0 0 .1 0 0"/>
<site name="s3" pos=".02 0 .03"/>
<body pos=".1 0 0">
<joint/>
<geom name="g2" class="visual_cylinder"/>
<geom fromto="0 0 0 .1 0 0"/>
<site name="s4" pos=".03 0 .01"/>
<site name="s5" pos=".05 0 .02"/>
<site name="side2" pos="0 0 .03"/>
<body pos=".1 0 0">
<joint/>
<geom name="g3" class="visual_cylinder"/>
<geom fromto="0 0 0 .1 0 0"/>
<site name="s6" pos=".03 0 .01"/>
<site name="side3" pos="0 0 .03"/>
</body>
</body>
</body>
</worldbody>
<tendon>
<spatial range="0 .33" limited="true" width=".002" rgba=".95 .3 .3 1">
<site site="s1"/>
<site site="s2"/>
<geom geom="g1"/>
<site site="s3"/>
<pulley divisor="2"/>
<site site="s3"/>
<geom geom="g2" sidesite="side2"/>
<site site="s4"/>
<pulley divisor="2"/>
<site site="s3"/>
<geom geom="g2" sidesite="side2"/>
<site site="s5"/>
<geom geom="g3" sidesite="side3"/>
<site site="s6"/>
</spatial>
</tendon>
</mujoco>
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