Copybara-Service
e144090273
PiperOrigin-RevId: 960804180 Change-Id: Ic3eb203ca0d9cf19c9043b46127db342678d94f9
51 lines
2.4 KiB
XML
51 lines
2.4 KiB
XML
<!-- Copyright 2026 DeepMind Technologies Limited
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<mujoco model="Drape">
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<include file="scene.xml"/>
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<!-- Three cloths dropped over a sphere. All contacts are passive (cloth-cloth, self, and
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cloth-vs-static sphere) with stiffness carried implicitly by the effective metric. -->
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<!-- The metric solve for qacc_smooth is iterative and its blocks do not see the vertex-to-vertex
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coupling that contact introduces, so a contact-rich scene like this one needs a larger
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iteration budget than the default to converge it. -->
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<option timestep="0.002" solver="CG" tolerance="1e-6" iterations="400" integrator="implicitfast"/>
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<size memory="50M"/>
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<worldbody>
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<geom name="ball" type="sphere" size=".3" pos="0 0 .3" rgba=".45 .45 .5 1"/>
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<flexcomp type="grid" count="13 13 1" spacing=".055 .055 .055" pos="0 0 .68"
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radius=".004" mass=".25" name="cloth1" dim="2" rgba=".85 .35 .25 1">
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<contact selfcollide="auto" passive="true" solref="0.01 1" solimp=".95 .99 .0001"/>
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<elasticity young="2e4" poisson=".2" thickness="1e-3" elastic2d="both" damping="1e-2"/>
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</flexcomp>
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<flexcomp type="grid" count="13 13 1" spacing=".055 .055 .055" pos=".06 -.04 .78"
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radius=".004" mass=".25" name="cloth2" dim="2" rgba=".25 .55 .8 1">
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<contact selfcollide="auto" passive="true" solref="0.01 1" solimp=".95 .99 .0001"/>
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<elasticity young="2e4" poisson=".2" thickness="1e-3" elastic2d="both" damping="1e-2"/>
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</flexcomp>
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<flexcomp type="grid" count="13 13 1" spacing=".055 .055 .055" pos="-.05 .05 .88"
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radius=".004" mass=".25" name="cloth3" dim="2" rgba=".95 .8 .3 1">
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<contact selfcollide="auto" passive="true" solref="0.01 1" solimp=".95 .99 .0001"/>
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<elasticity young="2e4" poisson=".2" thickness="1e-3" elastic2d="both" damping="1e-2"/>
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</flexcomp>
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</worldbody>
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</mujoco>
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