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.
     You may obtain a copy of the License at

         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="Radial flex sphere">
  <include file="scene.xml"/>

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

  <size memory="10M"/>

  <visual>
    <map stiffness="500"/>
  </visual>

  <worldbody>
    <geom type="box" pos="1.5 0 0.25" size=".5 2 .25"/>
    <geom type="box" pos="0 0 0.25" size="2 2 .05" euler="0 15 0"/>
    <body name="body" pos="-.5 0 1">
      <freejoint/>
      <geom size=".1" contype="0" conaffinity="0" group="4"/>
      <flexcomp type="ellipsoid" count="8 8 8" spacing=".07 .07 .07" dim="3"
                radius=".001" rgba="0 .7 .7 1" mass="5" name="radial" dof="radial">
        <edge equality="true" solimp="0 0.9 0.01" solref=".02 1"/>
        <!-- <elasticity young="6e2" poisson="0.3" damping="0.05"/> -->
        <contact selfcollide="none"/>
      </flexcomp>
    </body>
  </worldbody>
</mujoco>