File size: 1,300 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 | <mujoco>
<option>
<flag island="enable"/>
</option>
<default>
<joint type="slide" axis="1 0 0" damping="3" frictionloss=".1"/>
<geom type="cylinder" size=".07 .1" zaxis="0 1 0"/>
<site size=".015" rgba="1 0 0 1"/>
</default>
<worldbody>
<site name="anchor" pos="0 0 1"/>
<body pos="0 0 .75">
<joint stiffness="10"/>
<geom name="0"/>
</body>
<site name="side0" pos=".15 0 .75" rgba="0 0 1 1"/>
<site name="01" pos="0 0 .625"/>
<body pos="0 0 .5">
<joint stiffness="30"/>
<geom name="1"/>
</body>
<site name="side1" pos="-.15 0 .5" rgba="0 0 1 1"/>
<site name="12" pos="0 0 .375"/>
<body pos="0 0 .25">
<joint stiffness="100"/>
<geom name="2"/>
</body>
<site name="side2" pos=".15 0 .25" rgba="0 0 1 1"/>
<body>
<freejoint/>
<site name="box" pos="0 0 .1"/>
<geom type="box" size=".1 .1 .1"/>
</body>
</worldbody>
<tendon>
<spatial limited="true" range="0 1.05" rgba="0 1 0 1" width=".005">
<site site="anchor"/>
<geom geom="0" sidesite="side0"/>
<site site="01"/>
<geom geom="1" sidesite="side1"/>
<site site="12"/>
<geom geom="2" sidesite="side2"/>
<site site="box"/>
</spatial>
</tendon>
</mujoco>
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