Alessio Quaglino
8421544add
PiperOrigin-RevId: 558751363 Change-Id: I15acefc88e5fead1069b58ffb722ea4dc5d53c9b
107 lines
3.7 KiB
XML
107 lines
3.7 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="Coil">
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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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<compiler autolimits="true"/>
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<visual>
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<global elevation="-30"/>
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</visual>
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<default>
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<geom solref="0.01 1" solimp=".95 .99 .0001"/>
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</default>
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<worldbody>
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<composite prefix="free" type="cable" offset="-.25 0 .3" initial="free"
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vertex="
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0.1 0. 0.
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0.0809017 0.05877853 0.001256637
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0.0309017 0.09510565 0.002513274
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-0.0309017 0.09510565 0.003769911
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-0.0809017 0.05877853 0.005026548
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-0.1 0. 0.006283185
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-0.0809017 -0.05877853 0.007539822
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-0.0309017 -0.09510565 0.008796459
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0.0309017 -0.09510565 0.010053096
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0.0809017 -0.05877853 0.011309734
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0.1 -0. 0.012566371
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0.0809017 0.05877853 0.01256637
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0.0309017 0.09510565 0.02513274
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-0.0309017 0.09510565 0.03769911
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-0.0809017 0.05877853 0.05026548
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-0.1 0. 0.06283185
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-0.0809017 -0.05877853 0.07539822
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-0.0309017 -0.09510565 0.08796459
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0.0309017 -0.09510565 0.10053096
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0.0809017 -0.05877853 0.11309734
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0.1 -0. 0.12566371
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0.0809017 0.05877853 0.13823008
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0.0309017 0.09510565 0.15079645
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-0.0309017 0.09510565 0.16336282
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-0.0809017 0.05877853 0.17592919
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-0.1 0. 0.18849556
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-0.0809017 -0.05877853 0.20106193
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-0.0309017 -0.09510565 0.2136283
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0.0309017 -0.09510565 0.22619467
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0.0809017 -0.05877853 0.23876104
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0.1 -0. 0.25132741">
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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="5e8"/>
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<config key="bend" value="15e8"/>
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<config key="vmax" value="2"/>
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</plugin>
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<joint kind="main" damping="0.12" armature="0.01"/>
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<geom type="capsule" size=".005" rgba=".8 .2 .1 1"/>
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</composite>
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<composite prefix="actuated" type="cable" curve="cos(s) sin(s) s" count="41 1 1"
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size="0.251327412 .1 4" offset="0.25 0 .05" initial="fixed">
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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="5e8"/>
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<config key="bend" value="15e8"/>
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<config key="vmax" value="2"/>
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</plugin>
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<joint kind="main" damping="0.1" armature="0.01"/>
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<geom type="capsule" size=".005" rgba=".8 .2 .1 1"/>
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</composite>
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<body name="slider" pos="0.35 0 0.301327412">
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<joint name="slide" type="slide" axis="0 0 1" damping="5"/>
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<geom size=".01"/>
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</body>
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</worldbody>
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<equality>
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<connect name="right_boundary" body1="actuatedB_last" body2="slider" anchor="0.03 0 0" solref="0.0002 1"/>
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</equality>
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<contact>
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<exclude body1="actuatedB_last" body2="slider"/>
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</contact>
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<actuator>
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<position joint="slide" name="extend" gear="1 0 0 0 0 0" ctrlrange="-.25 1" kp="100"/>
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</actuator>
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</mujoco>
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