Add shell plugin.
- Add bending passive force - Add two examples (plate and poncho) - Add stretching constraints for particles using tendons on mesh edges PiperOrigin-RevId: 566980584 Change-Id: Id0cd8e1084c05560f1008518a8afbd5311d563e2
This commit is contained in:
Alessio Quaglino
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Copybara-Service
Copybara-Service
parent
c54aba15f9
commit
dd5a7115cf
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<!-- Copyright 2021 DeepMind Technologies Limited
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<mujoco model="Mannequin">
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<!-- Static humanoid model with all joints removed -->
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<option timestep="0.005"/>
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<visual>
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<map force="0.1" zfar="30"/>
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<rgba haze="0.15 0.25 0.35 1"/>
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<global offwidth="2560" offheight="1440" elevation="-20" azimuth="120"/>
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</visual>
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<statistic center="0 0 0.7"/>
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<asset>
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<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
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<texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
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<material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
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<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
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<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
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</asset>
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<default>
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<motor ctrlrange="-1 1" ctrllimited="true"/>
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<default class="body">
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<!-- geoms -->
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<geom type="capsule" condim="1" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body"/>
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<default class="thigh">
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<geom size=".06"/>
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</default>
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<default class="shin">
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<geom fromto="0 0 0 0 0 -.3" size=".049"/>
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</default>
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<default class="foot">
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<geom size=".027"/>
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<default class="foot1">
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<geom fromto="-.07 -.01 0 .14 -.03 0"/>
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</default>
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<default class="foot2">
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<geom fromto="-.07 .01 0 .14 .03 0"/>
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</default>
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</default>
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<default class="arm_upper">
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<geom size=".04"/>
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</default>
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<default class="arm_lower">
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<geom size=".031"/>
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</default>
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<default class="hand">
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<geom type="sphere" size=".04"/>
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</default>
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<!-- joints -->
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<joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
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<default class="joint_big">
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<joint damping="5" stiffness="10"/>
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<default class="hip_x">
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<joint range="-30 10"/>
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</default>
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<default class="hip_z">
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<joint range="-60 35"/>
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</default>
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<default class="hip_y">
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<joint axis="0 1 0" range="-150 20"/>
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</default>
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<default class="joint_big_stiff">
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<joint stiffness="20"/>
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</default>
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</default>
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<default class="knee">
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<joint pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
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</default>
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<default class="ankle">
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<joint range="-50 50"/>
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<default class="ankle_y">
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<joint pos="0 0 .08" axis="0 1 0" stiffness="6"/>
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</default>
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<default class="ankle_x">
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<joint pos="0 0 .04" stiffness="3"/>
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</default>
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</default>
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<default class="shoulder">
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<joint range="-85 60"/>
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</default>
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<default class="elbow">
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<joint range="-100 50" stiffness="0"/>
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</default>
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</default>
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</default>
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<worldbody>
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<geom name="floor" size="0 0 .05" type="plane" material="grid" condim="3"/>
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<light name="spotlight" mode="targetbodycom" target="torso" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 -6 4" cutoff="30"/>
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<body name="torso" pos="0 0 1.282" childclass="body">
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<light name="top" pos="0 0 2" mode="trackcom"/>
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<camera name="back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
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<camera name="side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
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<freejoint name="root"/>
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<geom name="torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
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<geom name="waist_upper" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
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<body name="head" pos="0 0 .19">
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<geom name="head" type="sphere" size=".09"/>
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<camera name="egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
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</body>
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<body name="waist_lower" pos="-.01 0 -.26">
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<geom name="waist_lower" fromto="0 -.06 0 0 .06 0" size=".06"/>
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<body name="pelvis" pos="0 0 -.165">
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<geom name="butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
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<body name="thigh_right" pos="0 -.1 -.04">
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<geom name="thigh_right" fromto="0 0 0 0 .01 -.34" class="thigh"/>
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<body name="shin_right" pos="0 .01 -.4">
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<geom name="shin_right" class="shin"/>
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<body name="foot_right" pos="0 0 -.39">
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<geom name="foot1_right" class="foot1"/>
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<geom name="foot2_right" class="foot2"/>
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</body>
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</body>
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</body>
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<body name="thigh_left" pos="0 .1 -.04">
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<geom name="thigh_left" fromto="0 0 0 0 -.01 -.34" class="thigh"/>
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<body name="shin_left" pos="0 -.01 -.4">
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<geom name="shin_left" fromto="0 0 0 0 0 -.3" class="shin"/>
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<body name="foot_left" pos="0 0 -.39">
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<geom name="foot1_left" class="foot1"/>
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<geom name="foot2_left" class="foot2"/>
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</body>
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</body>
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</body>
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</body>
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</body>
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<body name="upper_arm_right" pos="0 -.17 .06">
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<geom name="upper_arm_right" fromto="0 0 0 0 -.22 0" class="arm_upper"/>
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<body name="lower_arm_right" pos="0 -.22 0">
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<geom name="lower_arm_right" fromto=".01 .01 .01 0 -.21 -.05" class="arm_lower"/>
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<body name="hand_right" pos="0 -.22 -.05">
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<geom name="hand_right" zaxis="1 1 1" class="hand"/>
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</body>
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</body>
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</body>
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<body name="upper_arm_left" pos="0 .17 .06">
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<geom name="upper_arm_left" fromto="0 0 0 0 .22 0" class="arm_upper"/>
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<body name="lower_arm_left" pos="0 .22 0">
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<geom name="lower_arm_left" fromto=".01 -.01 .01 0 .21 -.05" class="arm_lower"/>
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<body name="hand_left" pos="0 .22 -.05">
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<geom name="hand_left" zaxis="1 -1 1" class="hand"/>
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</body>
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</body>
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</body>
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</body>
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</worldbody>
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<contact>
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<exclude body1="waist_lower" body2="thigh_right"/>
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<exclude body1="waist_lower" body2="thigh_left"/>
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</contact>
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</mujoco>
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@@ -0,0 +1,54 @@
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<!-- Copyright 2021 DeepMind Technologies Limited
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<mujoco model="Plate">
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<include file="scene.xml"/>
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<extension>
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<plugin plugin="mujoco.elasticity.shell"/>
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</extension>
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<option solver="CG" tolerance="1e-6"/>
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<size memory="10M"/>
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<visual>
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<map stiffness="100"/>
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</visual>
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<default>
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<default class="wall">
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<geom type="plane" size=".5 .5 .05"/>
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</default>
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</default>
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<worldbody>
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<body mocap="true" pos="-.1 .05 0" zaxis=".5 0 1">
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<geom type="capsule" size=".1 .1" group="1"/>
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</body>
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<composite type="particle" count="16 16 1" spacing="0.05" offset="0 0 1">
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<geom size=".02" rgba=".8 .2 .1 1" group="4" density="1000"
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condim="3" solref="0.01 1" solimp=".95 .99 .0001"/>
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<skin inflate="0.01" rgba=".4 0 .3 1" subgrid="4"/>
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<plugin plugin="mujoco.elasticity.shell">
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<config key="poisson" value="0"/>
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<config key="damping" value="0.001"/>
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<config key="thickness" value="1e-2"/>
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<!--Units are in Pa (SI)-->
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<config key="young" value="3e7"/>
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</plugin>
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</composite>
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</worldbody>
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</mujoco>
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