Alessio Quaglino
110ade1435
PiperOrigin-RevId: 573755821 Change-Id: I3b8d7fb27f0e940038fa9fd2b26ecc746df4f7ac
54 lines
1.6 KiB
XML
54 lines
1.6 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="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" integrator="implicitfast"/>
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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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<flexcomp type="grid" count="16 16 1" spacing=".05 .05 .05" pos="0 0 1"
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radius=".001" mass="100" name="plate">
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<contact condim="3" solref="0.01 1" solimp=".95 .99 .0001"/>
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<edge equality="true" damping="0.001"/>
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<plugin plugin="mujoco.elasticity.shell">
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<config key="poisson" value="0"/>
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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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</flexcomp>
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</worldbody>
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</mujoco>
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