| | <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> |
| |
|
