Alessio Quaglino
dd5a7115cf
- Add bending passive force - Add two examples (plate and poncho) - Add stretching constraints for particles using tendons on mesh edges PiperOrigin-RevId: 566980584 Change-Id: Id0cd8e1084c05560f1008518a8afbd5311d563e2
55 lines
1.7 KiB
XML
55 lines
1.7 KiB
XML
<!-- Copyright 2021 DeepMind Technologies Limited
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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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="Plate">
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<include file="scene.xml"/>
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<extension>
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<plugin plugin="mujoco.elasticity.shell"/>
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</extension>
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<option solver="CG" tolerance="1e-6"/>
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<size memory="10M"/>
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<visual>
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<map stiffness="100"/>
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</visual>
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<default>
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<default class="wall">
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<geom type="plane" size=".5 .5 .05"/>
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</default>
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</default>
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<worldbody>
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<body mocap="true" pos="-.1 .05 0" zaxis=".5 0 1">
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<geom type="capsule" size=".1 .1" group="1"/>
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</body>
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<composite type="particle" count="16 16 1" spacing="0.05" offset="0 0 1">
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<geom size=".02" rgba=".8 .2 .1 1" group="4" density="1000"
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condim="3" solref="0.01 1" solimp=".95 .99 .0001"/>
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<skin inflate="0.01" rgba=".4 0 .3 1" subgrid="4"/>
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<plugin plugin="mujoco.elasticity.shell">
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<config key="poisson" value="0"/>
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<config key="damping" value="0.001"/>
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<config key="thickness" value="1e-2"/>
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<!--Units are in Pa (SI)-->
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<config key="young" value="3e7"/>
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</plugin>
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</composite>
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</worldbody>
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</mujoco>
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