Haroon Qureshi
c587cea0f7
PiperOrigin-RevId: 915363027 Change-Id: Icb0bf26374396a3929eeec30807fcf78b683ee94
81 lines
3.8 KiB
XML
81 lines
3.8 KiB
XML
<mujoco>
|
|
<asset>
|
|
<texture file="test-pattern.png" type="2d"/>
|
|
<texture name="white" type="2d" builtin="flat" rgb1="1 1 1" width="2" height="2"/>
|
|
<texture name="grid" type="2d" builtin="checker" rgb1="1 1 1" rgb2="0.9 0.9 0.9" width="64" height="64"/>
|
|
|
|
<material name="pattern" texture="test-pattern"/>
|
|
<material name="floor" reflectance="0.5" texture="grid" texuniform="true"/>
|
|
<material name="metal" metallic="1.0" roughness="0.0">
|
|
<layer role="rgb" texture="white"/>
|
|
<layer role="metallic" texture="white"/>
|
|
<layer role="roughness" texture="white"/>
|
|
</material>
|
|
|
|
<mesh name="icosahedron"
|
|
vertex="0 1 1.618
|
|
0 -1 1.618
|
|
0 1 -1.618
|
|
0 -1 -1.618
|
|
1 1.618 0
|
|
-1 1.618 0
|
|
1 -1.618 0
|
|
-1 -1.618 0
|
|
1.618 0 1
|
|
1.618 0 -1
|
|
-1.618 0 1
|
|
-1.618 0 -1"/>
|
|
<hfield name="hfield" nrow="3" ncol="3" size="1 1 0.1 0.1"
|
|
elevation="1 0 1
|
|
0 1 0
|
|
1 0 1"/>
|
|
|
|
</asset>
|
|
<worldbody>
|
|
<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="-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="-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="-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>
|