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<mujoco>
<visual>
<global elevation="-20"/>
</visual>
<worldbody>
<geom type="plane" size="1 1 .1"/>
<light pos="0 -.2 2" dir="0 1 -4" diffuse="1 1 1"/>
<body pos="0 0 .8">
<joint type="slide" stiffness="1000"/>
<geom size=".05" mass="20"/>
<site name="hook" pos="0 0 -.05"/>
</body>
<body pos="-.15 -.15 .3">
<joint name="hinge" type="hinge" axis="0 0 1" damping=".5"/>
<geom type="cylinder" size=".01" fromto="0 0 0 0 0 .1"/>
<geom type="capsule" size=".01" fromto="0 0 0 .25 0 0"/>
<geom size=".02" pos=".25 0 0"/>
<site name="corner" pos=".25 0 .02"/>
</body>
</worldbody>
<tendon>
<spatial limited="true" range="0 .5" rgba="0 .1 1 1" width=".005">
<site site="hook"/>
<site site="corner"/>
</spatial>
</tendon>
<actuator>
<general joint="hinge" biasprm="2" biastype="affine"/>
</actuator>
</mujoco>
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