Alessio Quaglino
a891782553
Do not allow a mix of `elastic2d != none` with `dof = trilinear` since the latter assumes 3d elasticity. Also, do not assume that `flex_interp > 0` in the engine. This will enable to use, e.g., `flex_interp = -1` to mean a linear surface finite element instead of a 3d finite element which is currently identified with `flex_interp = 1`. PiperOrigin-RevId: 903852035 Change-Id: Ia6290b4a05e9e510ffb7f36d141cd525b40d3110
49 lines
1.6 KiB
XML
49 lines
1.6 KiB
XML
<!-- Copyright 2024 DeepMind Technologies Limited
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you may not use this file except in compliance with the License.
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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="Trilinear">
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<include file="scene.xml"/>
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<option solver="CG" tolerance="1e-6" timestep=".001" integrator="implicitfast"/>
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<size memory="100M"/>
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<visual>
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<map stiffness="100"/>
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</visual>
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<asset>
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<texture name="texsponge" type="2d" file="sponge.png"/>
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<material name="matsponge" texture="texsponge" specular="0.3"/>
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</asset>
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<worldbody>
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<body>
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<joint name="press" type="slide" axis="0 0 1" damping="500"/>
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<geom type="box" size=".02 .2 .2" pos="0 0 .5"/>
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</body>
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<flexcomp type="mesh" file="bunny_with_uv.obj" pos="0 0 .1" dim="2" euler="90 0 0"
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radius=".001" material="matsponge" mass=".05" name="softbody" dof="trilinear">
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<elasticity young="1e3" poisson="0.1" damping="0.001" elastic2d="none"/>
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<contact selfcollide="none" internal="false"/>
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</flexcomp>
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</worldbody>
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<actuator>
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<position name="press" joint="press" gear="-1 0 0 0 0 0" ctrlrange="-1 1" kp="1000"/>
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</actuator>
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</mujoco>
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