| <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> | |