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<mujoco>
<compiler autolimits="true"/>
<option density="1000"/>
<worldbody>
<geom type="plane" size="10 10 .1" rgba="1 1 1 1"/>
<light pos="0 0 20"/>
<site name="anchor_tendon" pos="0 0 9" size="0.03" rgba="0 0 1 1"/>
<body name="body_hinge" pos="5 0 3">
<geom type="box" size="1.5 .1 .1" pos="0 0 2.0"/>
<joint name="hinge" type="hinge" pos="0 0 2.0" axis="0 1 0" range="-25 5"/>
</body>
<body name="body_tendon" pos="0 0 5">
<freejoint/>
<geom type="box" size=".5 .5 .5"/>
<site name="box_tendon" pos=".5 .5 .5" rgba="0 0 1 1" size="0.03"/>
</body>
<body name="body_slider" pos="5 -2 2">
<geom type="box" size=".5 .5 .5"/>
<joint name="slider" type="slide" pos=".5 0 0" axis="1 0 0" range="-25 5"/>
</body>
<body name="body_site" pos="2 2 .5">
<freejoint/>
<geom type="box" size=".5 .5 .5"/>
<site name="box_site" pos="0 0 .5" rgba="0 0 1 1" size="0.1"/>
</body>
<body name="body_stateless" pos="5 2 2">
<geom type="box" size=".5 .5 .5"/>
<joint name="stateless" type="slide" pos=".5 0 0" axis="1 0 0" range="-25 5"/>
</body>
</worldbody>
<tendon>
<spatial name="tendon" limited="true" range="0 4" damping="100" width="0.03">
<site site="anchor_tendon"/>
<site site="box_tendon"/>
</spatial>
</tendon>
<actuator>
<general name="stateless" joint="stateless" ctrllimited="true" ctrlrange="-20 20"/>
<general name="hinge" joint="hinge" dyntype="integrator" ctrllimited="true" ctrlrange="-20 20"/>
<muscle name="tendon" tendon="tendon" ctrllimited="true" ctrlrange="0 2"/>
<general name="slider" joint="slider" dyntype="integrator" ctrllimited="true" ctrlrange="-20 20"/>
<general name="site" site="box_site" dyntype="integrator" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="0 10000"/>
</actuator>
</mujoco>
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