| <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> |
|
|
