| <mujoco> |
| <compiler autolimits="true"/> |
| <option density="1000"/> |
|
|
| <worldbody> |
| <geom type="plane" size="10 10 .1" rgba="1 1 1 1"/> |
| <light pos="0 0 20"/> |
| <site name="anchor_tendon" pos="0 0 9" size="0.03" rgba="0 0 1 1"/> |
| <body name="body_hinge" pos="5 0 3"> |
| <geom type="box" size="1.5 .1 .1" pos="0 0 2.0"/> |
| <joint name="hinge" type="hinge" pos="0 0 2.0" axis="0 1 0" range="-25 5"/> |
| </body> |
| <body name="body_tendon" pos="0 0 5"> |
| <freejoint/> |
| <geom type="box" size=".5 .5 .5"/> |
| <site name="box_tendon" pos=".5 .5 .5" rgba="0 0 1 1" size="0.03"/> |
| </body> |
| <body name="body_slider" pos="5 -2 2"> |
| <geom type="box" size=".5 .5 .5"/> |
| <joint name="slider" type="slide" pos=".5 0 0" axis="1 0 0" range="-25 5"/> |
| </body> |
| <body name="body_site" pos="2 2 .5"> |
| <freejoint/> |
| <geom type="box" size=".5 .5 .5"/> |
| <site name="box_site" pos="0 0 .5" rgba="0 0 1 1" size="0.1"/> |
| </body> |
| <body name="body_stateless" pos="5 2 2"> |
| <geom type="box" size=".5 .5 .5"/> |
| <joint name="stateless" type="slide" pos=".5 0 0" axis="1 0 0" range="-25 5"/> |
| </body> |
| </worldbody> |
|
|
| <tendon> |
| <spatial name="tendon" limited="true" range="0 4" damping="100" width="0.03"> |
| <site site="anchor_tendon"/> |
| <site site="box_tendon"/> |
| </spatial> |
| </tendon> |
|
|
| <actuator> |
| <general name="stateless" joint="stateless" ctrllimited="true" ctrlrange="-20 20"/> |
| <general name="hinge" joint="hinge" dyntype="integrator" ctrllimited="true" ctrlrange="-20 20"/> |
| <muscle name="tendon" tendon="tendon" ctrllimited="true" ctrlrange="0 2"/> |
| <general name="slider" joint="slider" dyntype="integrator" ctrllimited="true" ctrlrange="-20 20"/> |
| <general name="site" site="box_site" dyntype="integrator" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="0 10000"/> |
| </actuator> |
| </mujoco> |
|
|
