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
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-->

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

  <option 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>
    <body mocap="true" pos="-.1 .05 0" zaxis=".5 0 1">
      <geom type="capsule" size=".1 .1" group="1"/>
    </body>
    <flexcomp type="grid" count="16 16 1" spacing=".05 .05 .05" pos="0 0 1"
              radius=".001" mass="100" name="plate">
      <contact condim="3" solref="0.01 1" solimp=".95 .99 .0001"/>
      <edge equality="true" damping="0.001"/>
      <elasticity poisson="0" thickness="1e-2" young="3e7" elastic2d="bend"/>
    </flexcomp>
  </worldbody>
</mujoco>