Alessio Quaglino
d67b8c6251
PiperOrigin-RevId: 574109411 Change-Id: I4a701d8189cecf540cd200bd30cb4582f3c7dd43
63 lines
1.9 KiB
XML
63 lines
1.9 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="Trampoline">
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<include file="scene.xml"/>
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<extension>
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<plugin plugin="mujoco.elasticity.shell"/>
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<plugin plugin="mujoco.elasticity.membrane"/>
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</extension>
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<option timestep="0.001" solver="CG" tolerance="1e-6" 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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<default>
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<default class="wall">
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<geom type="plane" size=".5 .5 .05"/>
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</default>
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</default>
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<worldbody>
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<body pos=".2 0 1.5">
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<freejoint/>
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<geom type="sphere" size=".1"/>
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</body>
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<flexcomp type="grid" count="16 16 1" spacing=".1 .1 .1" pos="0 0 1"
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radius=".001" mass="10" name="plate" dim="2">
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<contact condim="3" solref="0.01 1" solimp=".95 .99 .0001"/>
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<edge equality="false" damping="10"/>
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<plugin plugin="mujoco.elasticity.membrane">
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<config key="poisson" value="0"/>
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<config key="thickness" value="1e-2"/>
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<!--Units are in Pa (SI)-->
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<config key="young" value="3e5"/>
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</plugin>
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</flexcomp>
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</worldbody>
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<equality>
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<connect body1="plate_0" anchor="0 0 0"/>
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<connect body1="plate_15" anchor="0 0 0"/>
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<connect body1="plate_240" anchor="0 0 0"/>
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<connect body1="plate_255" anchor="0 0 0"/>
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</equality>
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</mujoco>
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