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Set all flex edges to rigid when the flex is rigid.

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PiperOrigin-RevId: 629740153
Change-Id: Ib2fb6f64e3d160268d2521d63830f41e44d03b20
This commit is contained in:
Alessio Quaglino
2024-05-01 09:04:40 -07:00
committed by Copybara-Service
parent ad5bee73ef
commit 7eb8c4b9f4
5 changed files with 58 additions and 4 deletions
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test/user/testdata/rigid_flex.xml
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+25
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<mujoco model='test'>
<asset>
<mesh file="stanford_bunny.obj"/>
</asset>
<worldbody>
<geom type="plane" size=".5 .5 .05"/>
<body name="bunny1" pos="0 0 .4" euler="90 0 0">
<freejoint/>
<geom type="mesh" mesh="stanford_bunny" contype="0" conaffinity="0"/>
<flexcomp type="mesh" file="stanford_bunny.obj"
rgba="0 .7 .7 1" name="bunny1" mass="5" rigid="true">
<contact condim="3" solref="0.01 1" solimp=".95 .99 .0001" selfcollide="none"/>
</flexcomp>
</body>
<body name="bunny2" pos="0 0 .2" euler="90 0 0">
<freejoint/>
<geom type="mesh" mesh="stanford_bunny" contype="0" conaffinity="0"/>
<flexcomp type="mesh" file="stanford_bunny.obj"
rgba="0 .7 .7 1" name="bunny2" mass="5" rigid="true">
<contact condim="3" solref="0.01 1" solimp=".95 .99 .0001" selfcollide="none"/>
</flexcomp>
</body>
</worldbody>
</mujoco>