Alessio Quaglino
7d8d4d398e
Before change: poncho 18.20s poncho_flex 44.60s floppy 4.70s floppy_flex 6.43s After change: poncho 18.23s poncho_flex 44.62s floppy 4.67s floppy_flex 6.57s PiperOrigin-RevId: 585952587 Change-Id: I0e7c1513f64c7ab1e6ad71e2168b4467c042b46f
57 lines
1.7 KiB
XML
57 lines
1.7 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="Trampoline">
|
|
<include file="scene.xml"/>
|
|
|
|
<extension>
|
|
<plugin plugin="mujoco.elasticity.shell"/>
|
|
<plugin plugin="mujoco.elasticity.membrane"/>
|
|
</extension>
|
|
|
|
<option timestep="0.001" solver="CG" tolerance="1e-6" integrator="implicitfast"/>
|
|
|
|
<size memory="10M"/>
|
|
|
|
<visual>
|
|
<map stiffness="100"/>
|
|
</visual>
|
|
|
|
<default>
|
|
<default class="wall">
|
|
<geom type="plane" size=".5 .5 .05"/>
|
|
</default>
|
|
</default>
|
|
|
|
<worldbody>
|
|
<body pos=".2 0 1.5">
|
|
<freejoint/>
|
|
<geom type="sphere" size=".1"/>
|
|
</body>
|
|
<flexcomp type="grid" count="16 16 1" spacing=".1 .1 .1" pos="0 0 1"
|
|
radius=".001" mass="10" name="plate" dim="2">
|
|
<contact condim="3" solref="0.01 1" solimp=".95 .99 .0001"/>
|
|
<edge equality="false" damping="10"/>
|
|
<pin id="0 15 240 255"/>
|
|
<plugin plugin="mujoco.elasticity.membrane">
|
|
<config key="poisson" value="0"/>
|
|
<config key="thickness" value="1e-2"/>
|
|
<!--Units are in Pa (SI)-->
|
|
<config key="young" value="3e5"/>
|
|
</plugin>
|
|
</flexcomp>
|
|
</worldbody>
|
|
</mujoco>
|