Copybara-Service
b9a23e8d0c
PiperOrigin-RevId: 735789711 Change-Id: Iad5a52a0ba29baad31ba60f0243e3b88553e6e96
49 lines
1.6 KiB
XML
49 lines
1.6 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="Trilinear">
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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="100M"/>
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<visual>
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<map stiffness="100"/>
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</visual>
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<asset>
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<texture name="texsponge" type="2d" file="sponge.png"/>
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<material name="matsponge" texture="texsponge" specular="0.3"/>
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</asset>
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<worldbody>
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<body>
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<joint name="press" type="slide" axis="0 0 1" damping="500"/>
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<geom type="box" size=".02 .2 .2" pos="0 0 .5"/>
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</body>
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<flexcomp type="mesh" file="bunny_with_uv.obj" pos="0 0 .1" dim="2" euler="90 0 0"
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radius=".001" material="matsponge" mass=".05" name="softbody" dof="trilinear">
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<elasticity young="1e3" poisson="0.1" damping="0.001"/>
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<contact selfcollide="none" internal="false"/>
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</flexcomp>
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</worldbody>
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<actuator>
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<position name="press" joint="press" gear="-1 0 0 0 0 0" ctrlrange="-1 1" kp="1000"/>
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</actuator>
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</mujoco>
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