Added support for GMSH22 surface loading
PiperOrigin-RevId: 629734063 Change-Id: I6a250b81de4e7c8f7520795bfe74a81d719dfb50
This commit is contained in:
Mohammad Hamid
committed by
Copybara-Service
Copybara-Service
parent
57b1dbac65
commit
131b1745db
@@ -0,0 +1,47 @@
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@@ -0,0 +1,26 @@
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<mujoco model="gmsh">
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<option timestep="0.01" integrator="implicitfast" solver="CG"/>
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<asset>
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<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
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<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
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<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
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</asset>
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<visual>
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<headlight diffuse="0.9 0.9 0.9" ambient="0.3 0.3 0.3" specular="0 0 0"/>
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<map force="0.1" zfar="30"/>
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<rgba haze="0.15 0.25 0.35 1"/>
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<quality shadowsize="4096"/>
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<global offwidth="800" offheight="800"/>
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</visual>
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<worldbody>
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<geom name="floor" size="1 1 .05" type="plane" material="grid" condim="3"/>
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<light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1"/>
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<flexcomp name="cube" type="gmsh" dim="2" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 0"
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mass="10" scale="1 1 1" file="cube_22_ascii_surf_gmshApp.msh">
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<edge equality="true"/>
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</flexcomp>
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</worldbody>
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</mujoco>
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Binary file not shown.
@@ -0,0 +1,26 @@
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<mujoco model="gmsh">
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<option timestep="0.01" integrator="implicitfast" solver="CG"/>
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<asset>
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<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
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<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
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<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
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</asset>
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<visual>
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<headlight diffuse="0.9 0.9 0.9" ambient="0.3 0.3 0.3" specular="0 0 0"/>
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<map force="0.1" zfar="30"/>
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<rgba haze="0.15 0.25 0.35 1"/>
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<quality shadowsize="4096"/>
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<global offwidth="800" offheight="800"/>
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</visual>
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<worldbody>
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<geom name="floor" size="1 1 .05" type="plane" material="grid" condim="3"/>
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<light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1"/>
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<flexcomp name="cube" type="gmsh" dim="2" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 0"
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mass="10" scale="1 1 1" file="cube_22_binary_surf_gmshApp.msh">
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<edge equality="true"/>
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</flexcomp>
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</worldbody>
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</mujoco>
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@@ -0,0 +1,67 @@
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$EndElements
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@@ -0,0 +1,26 @@
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<mujoco model="gmsh">
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<option timestep="0.01" integrator="implicitfast" solver="CG"/>
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<asset>
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<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
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<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
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<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
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</asset>
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<visual>
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<headlight diffuse="0.9 0.9 0.9" ambient="0.3 0.3 0.3" specular="0 0 0"/>
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<map force="0.1" zfar="30"/>
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<rgba haze="0.15 0.25 0.35 1"/>
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<quality shadowsize="4096"/>
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<global offwidth="800" offheight="800"/>
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</visual>
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<worldbody>
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<geom name="floor" size="1 1 .05" type="plane" material="grid" condim="3"/>
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<light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1"/>
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<flexcomp name="cube" type="gmsh" dim="2" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 0"
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mass="10" scale="1 1 1" file="cube_41_ascii_surf_gmshApp.msh">
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<edge equality="true"/>
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</flexcomp>
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</worldbody>
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</mujoco>
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Binary file not shown.
@@ -0,0 +1,26 @@
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<mujoco model="gmsh">
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<option timestep="0.01" integrator="implicitfast" solver="CG"/>
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<asset>
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<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
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<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
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<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
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</asset>
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<visual>
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<headlight diffuse="0.9 0.9 0.9" ambient="0.3 0.3 0.3" specular="0 0 0"/>
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<map force="0.1" zfar="30"/>
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<rgba haze="0.15 0.25 0.35 1"/>
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<quality shadowsize="4096"/>
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<global offwidth="800" offheight="800"/>
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</visual>
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<worldbody>
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<geom name="floor" size="1 1 .05" type="plane" material="grid" condim="3"/>
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<light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1"/>
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<flexcomp name="cube" type="gmsh" dim="2" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 0"
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mass="10" scale="1 1 1" file="cube_41_binary_surf_gmshApp.msh">
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<edge equality="true"/>
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</flexcomp>
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</worldbody>
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</mujoco>
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@@ -19,7 +19,7 @@
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<worldbody>
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<geom name="floor" size="20 20 .05" type="plane" material="grid" condim="3" />
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<light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1" />
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<flexcomp name="shark binary 2.2" type="gmsh" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4"
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<flexcomp name="shark binary 2.2" type="gmsh" dim="3" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4"
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mass="10" scale="1 1 1" file="shark_41_ascii_missing_node_index.msh">
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<edge equality="true" />
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</flexcomp>
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@@ -8,7 +8,6 @@ $EndEntities
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$Nodes
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1 652 1 652
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1
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4
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