mujoco

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<mujoco model="Pancake">
  <include file="scene.xml"/>

  <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"/>
      <elasticity poisson="0" thickness="8e-3" young="3e5" elastic2d="bend"/>
    </flexcomp>
  </worldbody>
</mujoco>