Added elasticity and sensor subfolders in model/plugin.

PiperOrigin-RevId: 558751363 Change-Id: I15acefc88e5fead1069b58ffb722ea4dc5d53c9b
2023-08-21 04:48:06 -07:00
parent ef699d4b6d
commit 8421544add
11 changed files with 3 additions and 3 deletions
@@ -0,0 +1,57 @@
+<!-- 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="Cable">
+  <include file="scene.xml"/>
+
+  <extension>
+    <plugin plugin="mujoco.elasticity.cable"/>
+  </extension>
+
+  <statistic center="0 0 .3" extent="1"/>
+  <visual>
+    <global elevation="-30"/>
+  </visual>
+
+  <compiler autolimits="true"/>
+
+  <size memory="2M"/>
+
+  <worldbody>
+    <composite type="cable" curve="s" count="41 1 1" size="1" offset="-.3 0 .6" initial="none">
+      <plugin plugin="mujoco.elasticity.cable">
+        <!--Units are in Pa (SI)-->
+        <config key="twist" value="1e7"/>
+        <config key="bend" value="4e6"/>
+        <config key="vmax" value="0.05"/>
+      </plugin>
+      <joint kind="main" damping=".015"/>
+      <geom type="capsule" size=".005" rgba=".8 .2 .1 1" condim="1"/>
+    </composite>
+    <body name="slider" pos=".7 0 .6">
+      <joint type="slide" axis="1 0 0" damping=".1"/>
+      <geom size=".01"/>
+    </body>
+  </worldbody>
+  <equality>
+    <connect name="right_boundary" body1="B_last" body2="slider" anchor=".025 0 0"/>
+  </equality>
+  <contact>
+    <exclude body1="B_last" body2="slider"/>
+  </contact>
+  <actuator>
+    <motor site="S_last" gear="0 0 0 1 0 0" ctrlrange="-.03 .03"/>
+  </actuator>
+</mujoco>