Raibert's Planar Hopper: Spring in series with position actuator

Discussion in 'Modeling' started by Guillermo Colin, Sep 1, 2020.

  1. I am trying to create a model of Raibert's planar hopper to simulate in MuJoCo, however, it requires setting up a prismatic joint to compress a spring (see picture below). Anybody know if MJCF modeling language supports this?