| <mujoco model="Tendon"> |
| <option solver="PGS"/> |
|
|
| <default> |
| <site size=".02" rgba="0 .8 0 1"/> |
| <geom condim="1"/> |
| </default> |
|
|
| <worldbody> |
| <light pos="1 0 4" dir="-1 0 -4"/> |
| <light pos="-1 0 4" dir="1 0 -4"/> |
| <geom type="plane" size="2 2 .01"/> |
| <site name="ceiling" pos="0.01 0.02 2.4"/> |
|
|
| <body pos="0 0 1.5"> |
| <freejoint/> |
| <site name="hook" pos="0 0 .3"/> |
| <site name="bulb"/> |
| <geom name="bulb" size=".3" rgba="0 0 .8 1" density="100" contype="0" conaffinity="0"/> |
| </body> |
|
|
| <replicate count="18" euler="0 0 20"> |
| <body pos=".2 0 1.5"> |
| <freejoint/> |
| <site name="a"/> |
| <geom rgba=".8 0 .4 1" size=".03"/> |
| </body> |
| <body pos="1.2 0 1.5"> |
| <freejoint/> |
| <site name="b"/> |
| <geom rgba=".8 .4 0 1" size=".1"/> |
| </body> |
| </replicate> |
| </worldbody> |
|
|
| <tendon> |
| <spatial springlength="0 0.5" stiffness="10000"> |
| <site site="ceiling"/> |
| <site site="hook"/> |
| </spatial> |
| <spatial range="0 0.5"> |
| <site site="a"/> |
| <geom geom="bulb" sidesite="bulb"/> |
| <site site="b"/> |
| </spatial> |
| </tendon> |
| </mujoco> |
|
|
