Alessio Quaglino
2f10a7cb3b
PiperOrigin-RevId: 508330060 Change-Id: I16a5e70c5950178826a2a52a7a2005ef7f39ccfb
57 lines
1.8 KiB
XML
57 lines
1.8 KiB
XML
<!-- 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>
|
|
<required 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>
|