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

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

  <option>
    <flag gravity="disable"/>
  </option>

  <statistic center="0 -.3 1" extent="2.5"/>

  <asset>
    <texture name="texcyl" type="2d" builtin="checker" rgb1=".3 .3 .3" rgb2=".15 0.15 0.15"
      width="512" height="512" mark="cross" markrgb=".22 .22 .22"/>
    <material name="matcyl" reflectance="0.3" texture="texcyl" texrepeat="3 3" texuniform="true"/>
  </asset>

  <worldbody>
    <flexcomp name="cable" type="circle" count="40 1 1" spacing=".15 1 1" dim="1"
              radius="0.02" pos="0 0 1" rgba="1 0 0 1">
      <edge equality="true"/>
    </flexcomp>
    <body name="left" pos="-.7 0 1">
      <joint name="expand_left" type="slide" axis="-1 0 0" range="0 2" damping="20"/>
      <joint name="rotate" type="hinge" axis="0 0 1"/>
      <geom type="cylinder" size=".2 .2" density="1" material="matcyl"/>
    </body>
    <body name="right" pos=".7 0 1">
      <joint name="expand_right" type="slide" axis="1 0 0" range="0 2" damping="20"/>
      <joint type="hinge" axis="0 0 1"/>
      <geom type="cylinder" size=".2 .2" density="1" material="matcyl"/>
    </body>
  </worldbody>

   <actuator>
    <position name="expand_left" joint="expand_left" ctrlrange="0 2" kp="100"/>
    <position name="expand_right" joint="expand_right" ctrlrange="0 2" kp="100"/>
    <velocity name="rotate" joint="rotate" ctrlrange="0 8"/>
  </actuator>

  <keyframe>
    <key ctrl=".7 .7 8"/>
  </keyframe>
</mujoco>