| <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> | |