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 +1,56 @@
+<!-- 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="Jelly">
+  <include file="scene.xml"/>
+
+  <extension>
+    <plugin plugin="mujoco.elasticity.solid"/>
+  </extension>
+
+  <option solver="CG" tolerance="1e-6" timestep=".001"/>
+
+  <size memory="10M"/>
+
+  <visual>
+    <map stiffness="100"/>
+  </visual>
+
+  <default>
+    <default class="wall">
+      <geom type="plane" size=".5 .5 .05"/>
+    </default>
+  </default>
+
+  <worldbody>
+    <body mocap="true" pos="-.1 .05 0" zaxis=".5 0 1">
+      <geom type="capsule" size=".1 .1" group="1" condim="1"/>
+    </body>
+    <geom name="+x" class="wall" zaxis="1 0 0"  pos="-.5 0 -.25"/>
+    <geom name="-x" class="wall" zaxis="-1 0 0" pos=".5 0 -.25"/>
+    <geom name="+y" class="wall" zaxis="0 1 0"  pos="0 -.5 -.25"/>
+    <geom name="-y" class="wall" zaxis="0 -1 0" pos="0 .5 -.25"/>
+    <composite type="particle" count="8 8 8" spacing="0.07" offset="0 0 1">
+      <geom size=".025" rgba=".8 .2 .1 1" group="4"/>
+      <skin inflate="0" rgba="0 .7 .7 .6"/>
+      <plugin plugin="mujoco.elasticity.solid">
+        <config key="poisson" value="0"/>
+        <config key="damping" value="0.001"/>
+        <!--Units are in Pa (SI)-->
+        <config key="young" value="5e4"/>
+      </plugin>
+    </composite>
+  </worldbody>
+</mujoco>