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