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.
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<mujoco model="Trampoline">
  <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>
    <body pos=".2 0 1.5">
      <freejoint/>
      <geom type="sphere" size=".1"/>
    </body>
    <flexcomp type="grid" count="16 16 1" spacing=".1 .1 .1" pos="0 0 1"
              radius=".001" mass="10" name="plate" dim="2">
      <contact condim="3" solref="0.01 1" solimp=".95 .99 .0001"/>
      <edge equality="false" damping="10"/>
      <elasticity young="3e5" poisson="0" thickness="1e-2" elastic2d="stretch"/>
      <pin id="0 15 240 255"/>
    </flexcomp>
  </worldbody>
</mujoco>