Alessio Quaglino
4014196c6c
Also reduce slightly the resolution of the models to make comparing golden data more readable. PiperOrigin-RevId: 582990641 Change-Id: I4f935a4ce316c70f4b1641e1c0f2fe49f801b32c
50 lines
1.8 KiB
XML
50 lines
1.8 KiB
XML
<mujoco model="flex">
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<option timestep="0.01" integrator="implicitfast"/>
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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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<scale contactwidth="20" contactheight="10" jointlength="30" jointwidth="1"/>
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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="5 5 .05" type="plane" material="grid" condim="3"/>
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<light specular="0 0 0" pos="0 0 2" dir="0 0 -1"/>
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<body pos="0 0 1">
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<freejoint/>
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<geom type="capsule" size="0.05 0.03" rgba=".6 .6 .6 1"/>
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</body>
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<body name="sphere" pos="0 0 0.8">
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<inertial pos="0 0 0" mass="1" diaginertia="0.01 0.01 0.01"/>
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<freejoint/>
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<flexcomp name="f1" type="ellipsoid" rgba=".8 .2 .2 1" radius="0.001" count="4 4 4"
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spacing=".025 .025 .025" dim="3" mass="1">
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<edge equality="true" solref="0.15 0.2" stiffness="0" damping="0"/>
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</flexcomp>
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</body>
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<flexcomp name="f2" type="grid" rgba="1 1 0 1" radius="0.003" dim="2" pos="0 0 .1"
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zaxis="0 0 1" count="6 6 1" mass="1" spacing="0.02 0.03 0.04" material="grid">
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<edge equality="true" solref="0.15 0.2" stiffness="0" damping="0"/>
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<pin id="0"/>
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</flexcomp>
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<flexcomp name="f3" type="grid" rgba=".6 .5 .1 1" radius="0.003" dim="3" pos="0 0 .3"
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zaxis="1 1 1" count="3 3 3" mass="1" spacing="0.02 0.03 0.04">
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<edge equality="true" solref="0.15 0.2" stiffness="0" damping="0"/>
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</flexcomp>
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</worldbody>
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</mujoco>
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