Alessio Quaglino
8acd83f317
PiperOrigin-RevId: 801754907 Change-Id: I4147af2ee2596519d42cb9a03cf8d5488f0bc3e8
37 lines
1.3 KiB
XML
37 lines
1.3 KiB
XML
<!-- Copyright 2024 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="Full-flex sphere">
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<include file="scene.xml"/>
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<option solver="CG" tolerance="1e-6" timestep=".001" integrator="implicitfast"/>
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<size memory="10M"/>
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<visual>
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<map stiffness="500"/>
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</visual>
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<worldbody>
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<geom type="box" pos="1.5 0 0.25" size=".5 2 .25"/>
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<geom type="box" pos="0 0 0.25" size="2 2 .05" euler="0 15 0"/>
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<flexcomp type="ellipsoid" count="8 8 8" spacing=".07 .07 .07" pos="-.5 0 1" dim="3"
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radius=".001" rgba="0 .7 .7 1" mass="5" name="slow">
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<edge equality="true"/>
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<contact selfcollide="none" internal="false" passive="true"/>
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</flexcomp>
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</worldbody>
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</mujoco>
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