File size: 679 Bytes
2c55b92 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 | <mujoco>
<!-- use Runge-Kutta for better energy conservation -->
<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>
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