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

  <compiler autolimits="true"/>

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

  <size memory="10M"/>

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

  <worldbody>
    <flexcomp name="A" type="grid" count="4 4 4" spacing=".2 .2 .2" pos="0 0 .5"
              radius=".005" rgba="0 .7 .7 1" dim="3" mass="5">
      <contact condim="3" solref="0.01 1" solimp=".95 .99 .0001" selfcollide="none"/>
      <edge damping="1"/>
      <elasticity young="1e4" poisson="0.4"/>
    </flexcomp>

    <flexcomp name="B" type="grid" count="4 4 4" spacing=".2 .2 .2" pos="1 0 .5"
              radius=".005" rgba="0 .7 .7 1" dim="3" mass="5">
      <contact condim="3" solref="0.01 1" solimp=".95 .99 .0001" selfcollide="none"/>
      <edge damping="1"/>
      <elasticity young="5e4" poisson="0"/>
    </flexcomp>

    <body>
      <joint name="soft" type="slide" axis="0 0 1" damping="500"/>
      <geom type="box" size=".35 .35 0.05" pos=".1 .1 1" density="300"/>
    </body>
    <body>
      <joint name="stiff" type="slide" axis="0 0 1" damping="500"/>
      <geom type="box" size=".35 .35 0.05" pos="1.1 .1 1" density="300"/>
    </body>
  </worldbody>

  <actuator>
    <motor name="soft" joint="soft" gear="-1 0 0 0 0 0" ctrlrange="-150 300"/>
    <motor name="stiff" joint="stiff" gear="-1 0 0 0 0 0" ctrlrange="-150 1600"/>
  </actuator>
</mujoco>