Version 2.1: documentation, public API headers, and sample programs.

PiperOrigin-RevId: 403900419

model/grid1.xml

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+<!-- Copyright 2021 DeepMind Technologies Limited
+
+     Licensed under the Apache License, Version 2.0 (the "License");
+     you may not use this file except in compliance with the License.
+     You may obtain a copy of the License at
+
+         http://www.apache.org/licenses/LICENSE-2.0
+
+     Unless required by applicable law or agreed to in writing, software
+     distributed under the License is distributed on an "AS IS" BASIS,
+     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+     See the License for the specific language governing permissions and
+     limitations under the License.
+-->
+
+<mujoco model="1D grid">
+
+    <include file="scene.xml"/>
+
+    <size nconmax="50" njmax="300" nstack="50000"/>
+
+    <worldbody>
+        <composite type="grid" count="20 1 1" spacing="0.045" offset="0 0 1">
+            <joint kind="main" damping="0.001"/>
+            <tendon kind="main" width="0.01"/>
+            <geom size=".02" rgba=".8 .2 .1 1"/>
+        </composite>
+    </worldbody>
+</mujoco>