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Add flex to shapes test scene.

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PiperOrigin-RevId: 915363027
Change-Id: Icb0bf26374396a3929eeec30807fcf78b683ee94
This commit is contained in:
Haroon Qureshi
2026-05-14 04:39:32 -07:00
committed by Copybara-Service
parent e47809d50d
commit c587cea0f7
1 changed files with 40 additions and 22 deletions
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test/user/testdata/shapes.xml
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+40 -22
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@@ -32,31 +32,49 @@
</asset>
<worldbody>
<geom name="ground" type="plane" size="12 8 0.1" pos="0 0 -1" material="floor"/>
<geom name="ground" type="plane" size="14 8 0.1" pos="0 0 -1" material="floor"/>
<geom type="box" rgba="0.3 0.6 0.9 1.0" size="1 1 1" pos="-9 0 0"/>
<geom type="sphere" rgba="0.3 0.6 0.9 1.0" size="1" pos="-6 0 0"/>
<geom type="ellipsoid" rgba="0.3 0.6 0.9 1.0" size="1 2 1" pos="0 0 0"/>
<geom type="capsule" rgba="0.3 0.6 0.9 1.0" size="1 1" pos="-3 0 1"/>
<geom type="cylinder" rgba="0.3 0.6 0.9 1.0" size="1 1" pos="3 0 0"/>
<geom type="hfield" hfield="hfield" rgba="0.3 0.6 0.9 1.0" pos="6 0 -0.5"/>
<geom type="sdf" mesh="icosahedron" rgba="0.3 0.6 0.9 1.0" pos="9 0 0.809"/>
<geom type="box" rgba="0.3 0.6 0.9 1.0" size="1 1 1" pos="-11 0 0"/>
<geom type="sphere" rgba="0.3 0.6 0.9 1.0" size="1" pos="-8 0 0"/>
<geom type="ellipsoid" rgba="0.3 0.6 0.9 1.0" size="1 2 1" pos="-5 0 0"/>
<geom type="capsule" rgba="0.3 0.6 0.9 1.0" size="1 1" pos="-2 0 1"/>
<geom type="cylinder" rgba="0.3 0.6 0.9 1.0" size="1 1" pos="1 0 0"/>
<geom type="hfield" hfield="hfield" rgba="0.3 0.6 0.9 1.0" pos="4 0 -0.5"/>
<geom type="sdf" mesh="icosahedron" rgba="0.3 0.6 0.9 1.0" pos="7 0 0.809"/>
<flexcomp name="f1" type="grid" radius="0.01" dim="2" pos="10 0 1"
zaxis="0 0 1" count="6 6 1" mass="1" spacing="0.5 0.6 0.7" rgba="0.3 0.6 0.9 1.0">
<edge equality="true" solref="0.15 0.2" stiffness="0" damping="0"/>
<contact internal="true"/>
<pin id="35"/>
</flexcomp>
<geom type="box" material="pattern" size="1 1 1" pos="-9 5 0"/>
<geom type="sphere" material="pattern" size="1" pos="-6 5 0"/>
<geom type="ellipsoid" material="pattern" size="1 2 1" pos="0 5 0"/>
<geom type="capsule" material="pattern" size="1 1" pos="-3 5 1"/>
<geom type="cylinder" material="pattern" size="1 1" pos="3 5 0"/>
<geom type="hfield" hfield="hfield" material="pattern" pos="6 5 -0.5"/>
<geom type="sdf" mesh="icosahedron" material="pattern" pos="9 5 0.809"/>
<geom type="box" material="pattern" size="1 1 1" pos="-11 5 0"/>
<geom type="sphere" material="pattern" size="1" pos="-8 5 0"/>
<geom type="ellipsoid" material="pattern" size="1 2 1" pos="-5 5 0"/>
<geom type="capsule" material="pattern" size="1 1" pos="-2 5 1"/>
<geom type="cylinder" material="pattern" size="1 1" pos="1 5 0"/>
<geom type="hfield" hfield="hfield" material="pattern" pos="4 5 -0.5"/>
<geom type="sdf" mesh="icosahedron" material="pattern" pos="7 5 0.809"/>
<flexcomp name="f2" type="grid" radius="0.01" dim="2" pos="10 5 1"
zaxis="0 0 1" count="6 6 1" mass="1" spacing="0.5 0.6 0.7" material="pattern">
<edge equality="true" solref="0.15 0.2" stiffness="0" damping="0"/>
<contact internal="true"/>
<pin id="35"/>
</flexcomp>
<geom type="box" material="metal" size="1 1 1" pos="-9 -5 0"/>
<geom type="sphere" material="metal" size="1" pos="-6 -5 0"/>
<geom type="ellipsoid" material="metal" size="1 2 1" pos="0 -5 0"/>
<geom type="capsule" material="metal" size="1 1" pos="-3 -5 1"/>
<geom type="cylinder" material="metal" size="1 1" pos="3 -5 0"/>
<geom type="hfield" hfield="hfield" material="metal" pos="6 -5 -0.5"/>
<geom type="sdf" mesh="icosahedron" material="metal" pos="9 -5 0.809"/>
<geom type="box" material="metal" size="1 1 1" pos="-11 -5 0"/>
<geom type="sphere" material="metal" size="1" pos="-8 -5 0"/>
<geom type="ellipsoid" material="metal" size="1 2 1" pos="-5 -5 0"/>
<geom type="capsule" material="metal" size="1 1" pos="-2 -5 1"/>
<geom type="cylinder" material="metal" size="1 1" pos="1 -5 0"/>
<geom type="hfield" hfield="hfield" material="metal" pos="4 -5 -0.5"/>
<geom type="sdf" mesh="icosahedron" material="metal" pos="7 -5 0.809"/>
<flexcomp name="f3" type="grid" radius="0.01" dim="2" pos="10 -5 1"
zaxis="0 0 1" count="6 6 1" mass="1" spacing="0.5 0.6 0.7" material="metal">
<edge equality="true" solref="0.15 0.2" stiffness="0" damping="0"/>
<contact internal="true"/>
<pin id="35"/>
</flexcomp>
</worldbody>
</mujoco>