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

  <extension>
    <plugin plugin="mujoco.elasticity.cable"/>
  </extension>

  <statistic center="0 0 .2" extent="1"/>

  <compiler autolimits="true"/>

  <visual>
    <global elevation="-30"/>
  </visual>

  <default>
    <geom solref="0.01 1" solimp=".95 .99 .0001"/>
  </default>

  <worldbody>
    <composite prefix="free" type="cable" offset="-.25 0 .3" initial="free"
      vertex="
        0.1         0.          0.
        0.0809017   0.05877853  0.001256637
        0.0309017   0.09510565  0.002513274
       -0.0309017   0.09510565  0.003769911
       -0.0809017   0.05877853  0.005026548
       -0.1         0.          0.006283185
       -0.0809017  -0.05877853  0.007539822
       -0.0309017  -0.09510565  0.008796459
        0.0309017  -0.09510565  0.010053096
        0.0809017  -0.05877853  0.011309734
        0.1        -0.          0.012566371
        0.0809017   0.05877853  0.01256637
        0.0309017   0.09510565  0.02513274
       -0.0309017   0.09510565  0.03769911
       -0.0809017   0.05877853  0.05026548
       -0.1         0.          0.06283185
       -0.0809017  -0.05877853  0.07539822
       -0.0309017  -0.09510565  0.08796459
        0.0309017  -0.09510565  0.10053096
        0.0809017  -0.05877853  0.11309734
        0.1        -0.          0.12566371
        0.0809017   0.05877853  0.13823008
        0.0309017   0.09510565  0.15079645
       -0.0309017   0.09510565  0.16336282
       -0.0809017   0.05877853  0.17592919
       -0.1         0.          0.18849556
       -0.0809017  -0.05877853  0.20106193
       -0.0309017  -0.09510565  0.2136283
        0.0309017  -0.09510565  0.22619467
        0.0809017  -0.05877853  0.23876104
        0.1        -0.          0.25132741">
      <plugin plugin="mujoco.elasticity.cable">
        <!--Units are in Pa (SI)-->
        <config key="twist" value="5e8"/>
        <config key="bend" value="15e8"/>
        <config key="vmax" value="2"/>
      </plugin>
      <joint kind="main" damping="0.12" armature="0.01"/>
      <geom type="capsule" size=".005" rgba=".8 .2 .1 1"/>
    </composite>
    <composite prefix="actuated" type="cable" curve="cos(s) sin(s) s" count="41 1 1"
      size="0.251327412 .1 4" offset="0.25 0 .05" initial="fixed">
      <plugin plugin="mujoco.elasticity.cable">
        <!--Units are in Pa (SI)-->
        <config key="twist" value="5e8"/>
        <config key="bend" value="15e8"/>
        <config key="vmax" value="2"/>
      </plugin>
      <joint kind="main" damping="0.1" armature="0.01"/>
      <geom type="capsule" size=".005" rgba=".8 .2 .1 1"/>
    </composite>
    <body name="slider" pos="0.35 0 0.301327412">
      <joint name="slide" type="slide" axis="0 0 1" damping="5"/>
      <geom size=".01"/>
    </body>
  </worldbody>

  <equality>
    <connect name="right_boundary" body1="actuatedB_last" body2="slider" anchor="0.03 0 0" solref="0.0002 1"/>
  </equality>

  <contact>
    <exclude body1="actuatedB_last" body2="slider"/>
  </contact>

  <actuator>
    <position joint="slide" name="extend" gear="1 0 0 0 0 0" ctrlrange="-.25 1" kp="100"/>
  </actuator>
</mujoco>