Google DeepMind
4f0293c6cb
Now we can load flex with format 2.2 binary and ASCII. There are two different parsing strategies. One for gmsh app and the other is for ftetwild. Used the shark model from Scanned Objects by Google Research: https://app.gazebosim.org/GoogleResearch/fuel/models/Weisshai_Great_White_Shark PiperOrigin-RevId: 619229499 Change-Id: I6eb876afcbc8a00631914b093c45bde10c0caaf6
26 lines
1.1 KiB
XML
26 lines
1.1 KiB
XML
<mujoco model="gmsh">
|
|
<option timestep="0.01" integrator="implicitfast" solver="CG"/>
|
|
|
|
<asset>
|
|
<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
|
|
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
|
|
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
|
|
</asset>
|
|
|
|
<visual>
|
|
<headlight diffuse="0.9 0.9 0.9" ambient="0.3 0.3 0.3" specular="0 0 0"/>
|
|
<map force="0.1" zfar="30"/>
|
|
<rgba haze="0.15 0.25 0.35 1"/>
|
|
<quality shadowsize="4096"/>
|
|
<global offwidth="800" offheight="800"/>
|
|
</visual>
|
|
|
|
<worldbody>
|
|
<geom name="floor" size="20 20 .05" type="plane" material="grid" condim="3"/>
|
|
<light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1"/>
|
|
<flexcomp name="shark" type="gmsh" dim="3" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4" mass="10" scale="1 1 1" file="shark_41_binary_gmshApp.msh">
|
|
<edge equality="true"/>
|
|
</flexcomp>
|
|
</worldbody>
|
|
</mujoco>
|