| <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> | |