How to use Mujoco to create a Stewart Platform

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Intro

Hi!

I am a Mujoco enthusiast, I use MuJoCo for my research on Stewart Platform，but I don't know how to create a parallel robot。I hope that all experts can provide a Stewart Platfrom Mujoco model. If there is a simulation process, it would be even better
Thank you

My setup

Mujoco3.2.3
Windows 10
python3.9

My question

No response

Minimal model and/or code that explain my question

If you encountered the issue in a complex model, please simplify it as much as possible (while still reproducing the issue).

Model:

minimal XML

<mujoco>
  <worldbody>
    <light pos="0 0 1"/>
    <geom type="sphere" size="1" rgba="1 0 0 1"/>
  </worldbody>
</mujoco>

Code:

import mujoco
import mediapy as media
model = mujoco.MjModel.from_xml_string(xml)
data = mujoco.MjData(model)

with mujoco.Renderer(model) as renderer:
  mujoco.mj_forward(model, data)
  renderer.update_scene(data)

  media.show_image(renderer.render())

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.

[quagla]

Hi, you can use constraints to create a parallel robot. See for example this parallel gripper https://github.com/google-deepmind/mujoco_menagerie/tree/main/robotiq_2f85