Yuval Tassa
5e666635f6
PiperOrigin-RevId: 783355711 Change-Id: I1e11999d5c533925f1d07266aeca95598a5691ba
46 lines
1.9 KiB
XML
46 lines
1.9 KiB
XML
<!-- Copyright 2024 DeepMind Technologies Limited
|
|
|
|
Licensed under the Apache License, Version 2.0 (the "License");
|
|
you may not use this file except in compliance with the License.
|
|
You may obtain a copy of the License at
|
|
|
|
http://www.apache.org/licenses/LICENSE-2.0
|
|
|
|
Unless required by applicable law or agreed to in writing, software
|
|
distributed under the License is distributed on an "AS IS" BASIS,
|
|
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
See the License for the specific language governing permissions and
|
|
limitations under the License.
|
|
-->
|
|
|
|
<mujoco model="Trilinear flex spheres">
|
|
<include file="scene.xml"/>
|
|
|
|
<option solver="CG" tolerance="1e-6" timestep="1e-3" integrator="implicitfast"/>
|
|
|
|
<size memory="10M"/>
|
|
|
|
<visual>
|
|
<map stiffness="100"/>
|
|
<!-- The trilinear bounding box is visualized by turning on "Flex Tree" (mjVIS_MESHBVH).
|
|
In order to make the visualization clearer,
|
|
we make the regular collision BVH visualization invisible: -->
|
|
<rgba bv="0 0 0 0" bvactive="0 0 0 0"/>
|
|
</visual>
|
|
|
|
<worldbody>
|
|
<geom type="box" pos="1.5 0 0.25" size=".5 2 .25"/>
|
|
<geom type="box" pos="0 0 0.25" size="2 2 .05" euler="0 15 0"/>
|
|
<flexcomp type="ellipsoid" count="8 8 8" spacing=".07 .07 .07" pos="-.5 -.5 1" dim="3"
|
|
radius=".001" rgba="0 .7 .7 1" mass="5" name="soft" dof="trilinear">
|
|
<elasticity young="1e3" poisson="0.49" damping="0.1"/>
|
|
<contact selfcollide="none" internal="false"/>
|
|
</flexcomp>
|
|
<flexcomp type="ellipsoid" count="8 8 8" spacing=".07 .07 .07" pos="-.5 .5 1" dim="3"
|
|
radius=".001" rgba="0 .7 .7 1" mass="5" name="rubber" dof="trilinear">
|
|
<elasticity young="1e4" poisson="0.4" damping="3e-3"/>
|
|
<contact selfcollide="none" internal="false" solref="-5000 -10"/>
|
|
</flexcomp>
|
|
</worldbody>
|
|
</mujoco>
|