Merge pull request #2475 from lyd405121:main

PiperOrigin-RevId: 735789711 Change-Id: Iad5a52a0ba29baad31ba60f0243e3b88553e6e96
2025-03-11 09:48:23 -07:00
parent c5473d9923 56dda2b4de
commit b9a23e8d0c
2 changed files with 13246 additions and 0 deletions
@@ -0,0 +1,48 @@
+<!-- Copyright 2024 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="Trilinear">
+  <include file="scene.xml"/>
+
+  <option solver="CG" tolerance="1e-6" timestep=".001" integrator="implicitfast"/>
+
+  <size memory="100M"/>
+
+  <visual>
+    <map stiffness="100"/>
+  </visual>
+
+
+  <asset>
+    <texture name="texsponge" type="2d" file="sponge.png"/>
+    <material name="matsponge" texture="texsponge" specular="0.3"/>
+  </asset>
+
+  <worldbody>
+    <body>
+      <joint name="press" type="slide" axis="0 0 1" damping="500"/>
+      <geom type="box" size=".02 .2 .2" pos="0 0 .5"/>
+    </body>
+    <flexcomp type="mesh" file="bunny_with_uv.obj" pos="0 0 .1" dim="2" euler="90 0 0"
+              radius=".001" material="matsponge" mass=".05" name="softbody" dof="trilinear">
+      <elasticity young="1e3" poisson="0.1" damping="0.001"/>
+      <contact selfcollide="none" internal="false"/>
+    </flexcomp>
+  </worldbody>
+
+  <actuator>
+    <position name="press" joint="press" gear="-1 0 0 0 0 0" ctrlrange="-1 1" kp="1000"/>
+  </actuator>
+</mujoco>