| <mujoco> |
| |
| <option integrator="RK4"> |
| <flag energy="enable"/> |
| </option> |
|
|
| <statistic center="0 0 0"/> |
|
|
| <worldbody> |
| <site name="origin" size=".01" rgba="1 0 0 1"/> |
| <light pos="0 0 3"/> |
|
|
| <body pos="1 0 .06"> |
| <joint type="slide" axis="1 0 0"/> |
| <geom size=".05"/> |
| <site name="attachment" size=".01" pos="0 0 -.06" rgba="1 0 0 1"/> |
| </body> |
| </worldbody> |
|
|
| <tendon> |
| <spatial name="tendon" stiffness="10" springlength="0 .5"> |
| <site site="origin"/> |
| <site site="attachment"/> |
| </spatial> |
| </tendon> |
|
|
| <sensor> |
| <tendonpos tendon="tendon"/> |
| </sensor> |
| </mujoco> |
|
|
