mujoco

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     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
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         http://www.apache.org/licenses/LICENSE-2.0

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

  <compiler autolimits="true"/>

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

  <size memory="100M"/>

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

  <worldbody>
    <flexcomp type="grid" count="24 4 4" spacing=".1 .1 .1" pos=".1 0 1.5"
              radius=".0" rgba="0 .7 .7 1" name="softbody" dim="3" mass="25">
      <contact condim="3" solref="0.01 1" solimp=".95 .99 .0001" selfcollide="none"/>
      <elasticity young="5e4" damping="0.002" poisson="0.2"/>
    </flexcomp>

    <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>