Alessio Quaglino
047df4e871
PiperOrigin-RevId: 767260834 Change-Id: I3030be314b5b197163d75ef88a5fd99a940d9c67
58 lines
2.1 KiB
XML
58 lines
2.1 KiB
XML
<!-- 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="Pulley">
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<include file="scene.xml"/>
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<option>
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<flag gravity="disable"/>
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</option>
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<statistic center="0 -.3 1" extent="2.5"/>
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<asset>
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<texture name="texcyl" type="2d" builtin="checker" rgb1=".3 .3 .3" rgb2=".15 0.15 0.15"
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width="512" height="512" mark="cross" markrgb=".22 .22 .22"/>
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<material name="matcyl" reflectance="0.3" texture="texcyl" texrepeat="3 3" texuniform="true"/>
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</asset>
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<worldbody>
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<flexcomp name="cable" type="circle" count="40 1 1" spacing=".15 1 1" dim="1"
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radius="0.02" pos="0 0 1" rgba="1 0 0 1">
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<edge equality="true"/>
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</flexcomp>
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<body name="left" pos="-.7 0 1">
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<joint name="expand_left" type="slide" axis="-1 0 0" range="0 2" damping="20"/>
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<joint name="rotate" type="hinge" axis="0 0 1"/>
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<geom type="cylinder" size=".2 .2" density="1" material="matcyl"/>
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</body>
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<body name="right" pos=".7 0 1">
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<joint name="expand_right" type="slide" axis="1 0 0" range="0 2" damping="20"/>
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<joint type="hinge" axis="0 0 1"/>
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<geom type="cylinder" size=".2 .2" density="1" material="matcyl"/>
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</body>
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</worldbody>
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<actuator>
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<position name="expand_left" joint="expand_left" ctrlrange="0 2" kp="100"/>
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<position name="expand_right" joint="expand_right" ctrlrange="0 2" kp="100"/>
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<velocity name="rotate" joint="rotate" ctrlrange="0 8"/>
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</actuator>
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<keyframe>
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<key ctrl=".7 .7 8"/>
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</keyframe>
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</mujoco>
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