File size: 1,901 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 | <mujoco model="fixed_site">
<worldbody>
<body>
<joint name="joint0" type="hinge" axis="0 1 0"/>
<geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
<site name="site0" pos="0.25 0 0.1" size="0.025"/>
<body pos="0.5 0 0">
<joint name="joint1" type="hinge" axis="0 1 0"/>
<geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
<site name="site1" pos="0.25 0 0.1" size="0.025"/>
<body pos="0.5 0 0">
<joint name="joint2" type="hinge" axis="0 1 0"/>
<geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
<site name="site2" pos="0.25 0 0.1" size="0.025"/>
</body>
</body>
</body>
</worldbody>
<tendon>
<spatial name="spatial0" width="0.0125">
<site site="site0"/>
<site site="site1"/>
<site site="site2"/>
</spatial>
<spatial name="spatial1" width="0.0125" actuatorfrclimited="true" actuatorfrcrange="-1 1">
<site site="site1"/>
<site site="site2"/>
</spatial>
<fixed name="fixed0" actuatorfrclimited="true" actuatorfrcrange="-10 10">
<joint joint="joint0" coef=".1"/>
<joint joint="joint1" coef=".2"/>
<joint joint="joint2" coef=".3"/>
</fixed>
<fixed name="fixed1" actuatorfrclimited="true" actuatorfrcrange="0 1">
<joint joint="joint0" coef=".1"/>
<joint joint="joint2" coef=".3"/>
</fixed>
</tendon>
<actuator>
<motor tendon="spatial0"/>
<motor tendon="spatial0"/>
<motor tendon="spatial0"/>
<motor tendon="spatial1"/>
<motor tendon="spatial1"/>
<motor tendon="fixed0"/>
<motor tendon="fixed1"/>
<motor tendon="fixed1"/>
</actuator>
<sensor>
<tendonactuatorfrc tendon="spatial0"/>
<tendonactuatorfrc tendon="spatial1"/>
<tendonactuatorfrc tendon="fixed0"/>
<tendonactuatorfrc tendon="fixed1"/>
</sensor>
</mujoco>
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