mujoco

<!-- 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

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     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="Floppy">
  <include file="scene.xml"/>

  <extension>
    <plugin plugin="mujoco.elasticity.solid"/>
  </extension>

  <compiler autolimits="true"/>

  <option solver="Newton" tolerance="1e-6" timestep=".001"/>

  <size memory="100M"/>

  <visual>
    <map stiffness="100"/>
  </visual>

  <worldbody>
    <composite type="particle" count="24 4 4" spacing="0.1" offset=".1 0 1.5">
      <geom size=".025" rgba=".8 .2 .1 1" group="4"
            condim="3" solref="0.01 1" solimp=".95 .99 .0001"/>
      <skin inflate="0" rgba="0 .7 .7 .6"/>
      <plugin plugin="mujoco.elasticity.solid">
        <config key="poisson" value="0.2"/>
        <config key="damping" value="0.002"/>
        <!--Units are in Pa (SI)-->
        <config key="young" value="5e4"/>
      </plugin>
    </composite>

    <body>
      <joint name="hinge" pos="0 0 .5" axis="0 1 0" damping="50"/>
      <geom type="cylinder" size=".4" fromto="0 -.5 .5 0 .5 .5" density="300"/>
    </body>
  </worldbody>

  <actuator>
    <motor name="cylinder" joint="hinge" gear="1 0 0 0 0 0" ctrlrange="-100 100"/>
  </actuator>
</mujoco>