| <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> | |