Alessio Quaglino
8421544add
PiperOrigin-RevId: 558751363 Change-Id: I15acefc88e5fead1069b58ffb722ea4dc5d53c9b
78 lines
2.1 KiB
XML
78 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="Belt">
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<include file="scene.xml"/>
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<extension>
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<plugin plugin="mujoco.elasticity.cable"/>
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</extension>
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<statistic center="0 0 .2" extent="1"/>
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<visual>
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<global elevation="-30"/>
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</visual>
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<option timestep="0.001">
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<flag gravity="disable"/>
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</option>
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<compiler autolimits="true"/>
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<worldbody>
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<composite type="cable" offset="-.5 0 .05" initial="none"
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vertex="
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0. 0. 0.
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0.05 0. 0.05
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0.1 0. 0.1
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0.15 0. 0.15
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0.2 0. 0.2
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0.25 0. 0.25
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0.3 0. 0.3
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0.35 0. 0.35
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0.4 0. 0.4
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0.45 0. 0.45
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0.5 0. 0.5
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0.55 0. 0.45
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0.6 0. 0.4
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0.65 0. 0.35
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0.7 0. 0.3
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0.75 0. 0.25
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0.8 0. 0.2
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0.85 0. 0.15
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0.9 0. 0.1
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0.95 0. 0.05
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1.0 0. 0. ">
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<plugin plugin="mujoco.elasticity.cable">
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<!--Units are in Pa (SI)-->
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<config key="twist" value="1e8"/>
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<config key="bend" value="1e7"/>
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<config key="vmax" value="0.2"/>
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</plugin>
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<joint kind="main" damping="0.1"/>
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<geom type="box" size="0.03535533906 0.02 0.0015" rgba=".8 .2 .1 1" group="3"/>
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<skin subgrid="3"/>
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</composite>
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</worldbody>
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<equality>
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<connect name="right_boundary" body1="B_last" anchor="0.07 0 0"/>
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</equality>
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<actuator>
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<motor site="S_last" gear="0 0 0 1 0 0" ctrlrange="-.2 .2"/>
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</actuator>
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</mujoco>
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