Alessio Quaglino
b66175eba6
PiperOrigin-RevId: 796361841 Change-Id: I105ea235fe2a8e1bcbde67276d77fa92eed214a1
49 lines
1.6 KiB
XML
49 lines
1.6 KiB
XML
<!-- Copyright 2025 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="Basket">
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<include file="scene.xml"/>
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<compiler autolimits="true"/>
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<option solver="CG" tolerance="1e-6"/>
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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 type="box" count="8 8 8" spacing=".1 .1 .1" pos="0 0 1"
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radius=".01" rgba=".68 .53 .38 1" name="box" dim="2" mass="0.25">
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<contact condim="3" solref="0.01 1" solimp=".95 .99 .0001" selfcollide="none"/>
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<edge equality="true" damping="10"/>
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<elasticity young="6e6" poisson="0.2" thickness="8e-3" elastic2d="bend"/>
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</flexcomp>
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<replicate count="3" offset=".2 0 0">
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<replicate count="3" offset="0 .2 0">
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<replicate count="5" offset="0 0 .2">
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<body name="ball" pos="-.2 -.2 1.8">
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<freejoint/>
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<geom type="sphere" size="0.1" rgba="1 0 .2 1" mass=".03"/>
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</body>
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</replicate>
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</replicate>
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</replicate>
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</worldbody>
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</mujoco>
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