/
tendon-gen.xml
59 lines (59 loc) · 2 KB
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tendon-gen.xml
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<?xml version="1.0" encoding="utf-8"?>
<mujoco model="tendon">
<compiler coordinate="global"/>
<default>
<geom rgba="0.9 0.7 0.1 1" size="0.01"/>
<site rgba="0.9 0.9 0.9 1" size="0.005" type="sphere"/>
<joint axis="0 1 0" limited="true" range="0 60" type="hinge" solimplimit="0.95 0.95 0.1"/>
</default>
<visual>
<headlight diffuse="0.7 0.7 0.7"/>
</visual>
<worldbody>
<body>
<geom density="5000" fromto="-0.03 0 0.2 -0.03 0 0.15" rgba="0.2 0.2 0.5 1" size="0.03" type="cylinder"/>
<joint axis="0 0 1" limited="false" pos="-0.03 0 0.2" type="slide"/>
<site name="s1" pos="-0.03 0 0.2"/>
</body>
<site name="s2" pos="-0.03 0 0.32"/>
<body>
<geom fromto="0 0 0.3 0.1 0 0.3" type="capsule"/>
<geom fromto="0.0 0.015 0.3 0.0 -0.015 0.3" name="g1" rgba="0.3 0.9 0.3 0.4" size="0.02" type="cylinder"/>
<joint pos="0 0 0.3"/>
<site name="s3" pos="0.02 0 0.32"/>
<body>
<geom fromto="0.1 0 0.3 0.2 0 0.3" type="capsule"/>
<geom fromto="0.1 0.015 0.3 0.1 -0.015 0.3" name="g2" rgba="0.3 0.9 0.3 0.4" size="0.02" type="cylinder"/>
<joint pos="0.1 0 0.3"/>
<site name="s4" pos="0.13 0 0.31"/>
<site name="s5" pos="0.15 0 0.32"/>
<site name="side2" pos="0.1 0 0.33"/>
<body>
<geom fromto="0.2 0 0.3 0.27 0 0.3" type="capsule"/>
<geom fromto="0.2 0.015 0.3 0.2 -0.015 0.3" name="g3" rgba="0.3 0.9 0.3 0.4" size="0.02" type="cylinder"/>
<joint pos="0.2 0 0.3"/>
<site name="s6" pos="0.23 0 0.31"/>
<site name="side3" pos="0.2 0 0.33"/>
</body>
</body>
</body>
</worldbody>
<tendon>
<spatial limited="true" range="0 0.33" rgba="0.95 0.3 0.3 1" width="0.002">
<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>