Alessio Quaglino
713b5524bc
Also fixes a bug when attaching a flex with constraints. PiperOrigin-RevId: 881349765 Change-Id: I8e6df8239488bfdc87d7e5b473568975e38c737e
65 lines
2.5 KiB
XML
65 lines
2.5 KiB
XML
<!-- Copyright 2026 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="Gripper">
|
|
<include file="scene.xml"/>
|
|
|
|
<option cone="elliptic" impratio="10" integrator="implicitfast"/>
|
|
|
|
<worldbody>
|
|
<body>
|
|
<freejoint/>
|
|
<geom type="box" size=".46 .5 .4" pos="0 0 1.5" rgba=".5 .5 0 1" condim="6"/>
|
|
</body>
|
|
<body name="column_00" pos=".7 .4 .5">
|
|
<geom type="box" size=".1 .1 .5" rgba=".2 .2 .2 1"/>
|
|
<flexcomp type="box" pos="-.24 0 .1" dim="3" spacing=".03 .01 .01"
|
|
radius=".001" rgba="0 .7 .7 1" mass=".5" name="left" dof="trilinear">
|
|
<edge equality="strain"/>
|
|
<contact selfcollide="none" internal="false" friction="3"/>
|
|
<pin id="4 5 6 7"/>
|
|
</flexcomp>
|
|
</body>
|
|
<body name="column_01" pos=".7 -.4 .5">
|
|
<geom type="box" size=".1 .1 .5" rgba=".2 .2 .2 1"/>
|
|
<flexcomp type="box" pos="-.24 0 .1" dim="3" spacing=".03 .01 .01"
|
|
radius=".001" rgba="0 .7 .7 1" mass=".5" name="right" dof="trilinear">
|
|
<edge equality="strain"/>
|
|
<contact selfcollide="none" internal="false" friction="3"/>
|
|
<pin id="4 5 6 7"/>
|
|
</flexcomp>
|
|
</body>
|
|
<body name="column_02" pos=" -.7 .4 .5">
|
|
<geom type="box" size=".1 .1 .5" rgba=".2 .2 .2 1"/>
|
|
<flexcomp type="box" pos=".24 0 .1" dim="3" spacing=".03 .01 .01"
|
|
radius=".001" rgba="0 .7 .7 1" mass=".5" name="bottom" dof="trilinear">
|
|
<edge equality="strain"/>
|
|
<contact selfcollide="none" internal="false" friction="3"/>
|
|
<pin id="0 1 2 3"/>
|
|
</flexcomp>
|
|
</body>
|
|
<body name="column_03" pos="-.7 -.4 .5">
|
|
<geom type="box" size=".1 .1 .5" rgba=".2 .2 .2 1"/>
|
|
<flexcomp type="box" pos=".24 0 .1" dim="3" spacing=".03 .01 .01"
|
|
radius=".001" rgba="0 .7 .7 1" mass=".5" name="top" dof="trilinear">
|
|
<edge equality="strain"/>
|
|
<contact selfcollide="none" internal="false" friction="3"/>
|
|
<pin id="0 1 2 3"/>
|
|
</flexcomp>
|
|
</body>
|
|
</worldbody>
|
|
|
|
</mujoco>
|