File size: 1,160 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 | <mujoco model="Tendon">
<option solver="PGS"/>
<default>
<site size=".02" rgba="0 .8 0 1"/>
<geom condim="1"/>
</default>
<worldbody>
<light pos="1 0 4" dir="-1 0 -4"/>
<light pos="-1 0 4" dir="1 0 -4"/>
<geom type="plane" size="2 2 .01"/>
<site name="ceiling" pos="0.01 0.02 2.4"/>
<body pos="0 0 1.5">
<freejoint/>
<site name="hook" pos="0 0 .3"/>
<site name="bulb"/>
<geom name="bulb" size=".3" rgba="0 0 .8 1" density="100" contype="0" conaffinity="0"/>
</body>
<replicate count="18" euler="0 0 20">
<body pos=".2 0 1.5">
<freejoint/>
<site name="a"/>
<geom rgba=".8 0 .4 1" size=".03"/>
</body>
<body pos="1.2 0 1.5">
<freejoint/>
<site name="b"/>
<geom rgba=".8 .4 0 1" size=".1"/>
</body>
</replicate>
</worldbody>
<tendon>
<spatial springlength="0 0.5" stiffness="10000">
<site site="ceiling"/>
<site site="hook"/>
</spatial>
<spatial range="0 0.5">
<site site="a"/>
<geom geom="bulb" sidesite="bulb"/>
<site site="b"/>
</spatial>
</tendon>
</mujoco>
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