Alessio Quaglino
b15de2c951
PiperOrigin-RevId: 675115200 Change-Id: Ic6608ce61cbb857dca71b3d9cbdac057e8f1ac7a
65 lines
2.2 KiB
XML
65 lines
2.2 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="Press">
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<include file="scene.xml"/>
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<extension>
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<plugin plugin="mujoco.elasticity.solid"/>
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</extension>
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<compiler autolimits="true"/>
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<option solver="Newton" 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="100"/>
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</visual>
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<worldbody>
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<flexcomp name="A" type="grid" count="4 4 4" spacing=".2 .2 .2" pos="0 0 .5"
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radius=".005" rgba="0 .7 .7 1" dim="3" mass="5">
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<contact condim="3" solref="0.01 1" solimp=".95 .99 .0001" selfcollide="none"/>
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<edge damping="1"/>
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<elasticity young="1e4" poisson="0.4"/>
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<plugin plugin="mujoco.elasticity.solid"/>
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</flexcomp>
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<flexcomp name="B" type="grid" count="4 4 4" spacing=".2 .2 .2" pos="1 0 .5"
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radius=".005" rgba="0 .7 .7 1" dim="3" mass="5">
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<contact condim="3" solref="0.01 1" solimp=".95 .99 .0001" selfcollide="none"/>
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<edge damping="1"/>
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<elasticity young="5e4" poisson="0"/>
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<plugin plugin="mujoco.elasticity.solid"/>
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</flexcomp>
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<body>
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<joint name="soft" type="slide" axis="0 0 1" damping="500"/>
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<geom type="box" size=".35 .35 0.05" pos=".1 .1 1" density="300"/>
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</body>
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<body>
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<joint name="stiff" type="slide" axis="0 0 1" damping="500"/>
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<geom type="box" size=".35 .35 0.05" pos="1.1 .1 1" density="300"/>
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</body>
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</worldbody>
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<actuator>
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<motor name="soft" joint="soft" gear="-1 0 0 0 0 0" ctrlrange="-150 300"/>
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<motor name="stiff" joint="stiff" gear="-1 0 0 0 0 0" ctrlrange="-150 1600"/>
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</actuator>
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</mujoco>
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