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- <!-- Copyright 2021 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="Belt">
- <include file="scene.xml"/>
- <extension>
- <plugin plugin="mujoco.elasticity.cable"/>
- </extension>
- <statistic center="0 0 .2" extent="1"/>
- <visual>
- <global elevation="-30"/>
- </visual>
- <option timestep="0.001">
- <flag gravity="disable"/>
- </option>
- <compiler autolimits="true"/>
- <worldbody>
- <composite type="cable" offset="-.5 0 .05" initial="none"
- vertex="
- 0. 0. 0.
- 0.05 0. 0.05
- 0.1 0. 0.1
- 0.15 0. 0.15
- 0.2 0. 0.2
- 0.25 0. 0.25
- 0.3 0. 0.3
- 0.35 0. 0.35
- 0.4 0. 0.4
- 0.45 0. 0.45
- 0.5 0. 0.5
- 0.55 0. 0.45
- 0.6 0. 0.4
- 0.65 0. 0.35
- 0.7 0. 0.3
- 0.75 0. 0.25
- 0.8 0. 0.2
- 0.85 0. 0.15
- 0.9 0. 0.1
- 0.95 0. 0.05
- 1.0 0. 0. ">
- <plugin plugin="mujoco.elasticity.cable">
- <!--Units are in Pa (SI)-->
- <config key="twist" value="1e8"/>
- <config key="bend" value="1e7"/>
- <config key="vmax" value="0.2"/>
- </plugin>
- <joint kind="main" damping="0.1"/>
- <geom type="box" size="0.03535533906 0.02 0.0015" rgba=".8 .2 .1 1" group="3"/>
- <skin subgrid="3"/>
- </composite>
- </worldbody>
- <equality>
- <connect name="right_boundary" body1="B_last" anchor="0.07 0 0"/>
- </equality>
- <actuator>
- <motor site="S_last" gear="0 0 0 1 0 0" ctrlrange="-.2 .2"/>
- </actuator>
- </mujoco>
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