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- <!-- Copyright 2024 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="Pancake">
- <include file="scene.xml"/>
- <extension>
- <plugin plugin="mujoco.elasticity.shell"/>
- </extension>
- <option timestep="0.001" solver="CG" tolerance="1e-6" integrator="implicitfast"/>
- <size memory="10M"/>
- <visual>
- <map stiffness="100"/>
- </visual>
- <default>
- <default class="wall">
- <geom type="plane" size=".5 .5 .05"/>
- </default>
- </default>
- <worldbody>
- <flexcomp type="disc" count="9 9 1" spacing=".1 .1 .1" pos="0 0 .5"
- radius=".01" mass=".5" name="plate" dim="2">
- <contact condim="3" solref="0.01 1" solimp=".95 .99 .0001"/>
- <edge equality="true" damping="10"/>
- <plugin plugin="mujoco.elasticity.shell">
- <config key="poisson" value="0"/>
- <config key="thickness" value="8e-3"/>
- <!--Units are in Pa (SI)-->
- <config key="young" value="3e5"/>
- </plugin>
- </flexcomp>
- </worldbody>
- </mujoco>
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