Alessio Quaglino
e57d95e68f
The `vertcollide` attribute in flex and flexcomp contact specifications has been removed since the next mjWarp release will support flex collisions. This attribute was previously used to enable vertex-based collisions by adding sphere geoms at flex vertices. The functionality associated with this attribute has been deprecated and removed from the XML parser, documentation, and internal data structures. Affected example XML files have also been updated. PiperOrigin-RevId: 885595503 Change-Id: I6a78975f1bc540c09ea8b5306ff3be0962b7ab24
1424 lines
47 KiB
XML
1424 lines
47 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="Poncho">
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<include file="mannequin.xml"/>
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<option timestep="0.005" integrator="implicitfast" viscosity=".3" solver="CG" tolerance="1e-6">
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<flag energy="enable"/>
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</option>
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<visual>
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<map force="0.1" zfar="30"/>
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<rgba haze="0.15 0.25 0.35 1"/>
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<quality shadowsize="4096"/>
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<global offwidth="800" offheight="800"/>
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</visual>
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<default>
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<geom solref="0.003 1"/>
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</default>
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<worldbody>
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<light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1"/>
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<flexcomp name="f1" type="direct" rgba=".8 .2 .2 1" radius="0.01" dim="2" pos="0 0 2"
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mass="1"
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|
|
120 121 98
|
|
149 120 148
|
|
149 150 120
|
|
124 100 123
|
|
67 69 85
|
|
71 67 85
|
|
51 53 67
|
|
35 51 39
|
|
35 37 51
|
|
40 46 56
|
|
52 40 56
|
|
36 31 40
|
|
35 25 37
|
|
57 42 41
|
|
25 24 36
|
|
35 23 25
|
|
14 7 15
|
|
59 42 57
|
|
24 25 18
|
|
22 34 29
|
|
73 80 91
|
|
78 76 79
|
|
46 61 62
|
|
46 44 45
|
|
77 95 76
|
|
73 62 80
|
|
92 73 91
|
|
72 62 73
|
|
61 60 76
|
|
60 75 77
|
|
76 60 77
|
|
28 30 24
|
|
29 28 19
|
|
42 30 28
|
|
41 42 29
|
|
43 30 42
|
|
59 43 42
|
|
59 44 43
|
|
75 59 57
|
|
44 31 43
|
|
45 44 60
|
|
61 45 60
|
|
61 46 45
|
|
31 30 43
|
|
46 31 44
|
|
46 40 31
|
|
52 36 40
|
|
44 59 60
|
|
50 57 41
|
|
50 66 58
|
|
58 66 74
|
|
75 58 74
|
|
57 50 58
|
|
94 114 95
|
|
97 99 80
|
|
82 100 101
|
|
129 152 123
|
|
82 83 65
|
|
124 101 100
|
|
103 126 104
|
|
83 103 84
|
|
125 126 103
|
|
124 125 101
|
|
179 159 187
|
|
153 179 180
|
|
154 153 180
|
|
125 124 153
|
|
152 159 179
|
|
153 152 179
|
|
124 123 152
|
|
158 159 129
|
|
249 283 250
|
|
145 147 118
|
|
298 329 302
|
|
269 298 302
|
|
206 237 238
|
|
268 298 269
|
|
184 155 183
|
|
175 173 204
|
|
146 145 143
|
|
277 298 268
|
|
236 244 268
|
|
311 310 342
|
|
309 311 341
|
|
279 310 311
|
|
277 299 298
|
|
159 152 129
|
|
186 188 158
|
|
180 209 210
|
|
125 153 154
|
|
179 187 209
|
|
246 278 245
|
|
152 153 124
|
|
127 104 126
|
|
182 185 156
|
|
115 104 127
|
|
104 84 103
|
|
154 127 126
|
|
116 114 94
|
|
115 116 93
|
|
115 144 116
|
|
284 283 315
|
|
220 219 250
|
|
252 220 250
|
|
159 188 187
|
|
186 219 188
|
|
186 218 219
|
|
218 248 249
|
|
312 314 282
|
|
313 282 314
|
|
313 343 315
|
|
281 313 283
|
|
314 343 313
|
|
315 344 345
|
|
281 248 282
|
|
313 281 282
|
|
373 346 345
|
|
252 284 286
|
|
249 248 281
|
|
283 249 281
|
|
250 219 249
|
|
157 156 185
|
|
183 157 185
|
|
128 127 156
|
|
154 181 156
|
|
125 154 126
|
|
180 179 209
|
|
180 210 181
|
|
154 180 181
|
|
252 250 284
|
|
251 242 247
|
|
220 188 219
|
|
251 285 275
|
|
242 251 275
|
|
247 280 251
|
|
252 280 247
|
|
286 317 318
|
|
187 188 220
|
|
158 188 159
|
|
316 284 315
|
|
318 285 286
|
|
347 318 317
|
|
285 280 286
|
|
307 285 318
|
|
307 275 285
|
|
306 308 276
|
|
339 306 307
|
|
338 308 306
|
|
242 209 217
|
|
217 187 220
|
|
375 346 374
|
|
242 210 209
|
|
274 306 276
|
|
243 274 276
|
|
275 306 274
|
|
246 279 278
|
|
345 344 373
|
|
316 315 345
|
|
346 316 345
|
|
286 284 316
|
|
280 285 251
|
|
339 307 318
|
|
339 338 306
|
|
250 283 284
|
|
315 343 344
|
|
346 317 316
|
|
283 313 315
|
|
218 249 219
|
|
204 213 236
|
|
173 184 204
|
|
213 244 236
|
|
183 215 184
|
|
215 214 245
|
|
176 205 206
|
|
245 244 213
|
|
269 236 268
|
|
183 155 157
|
|
214 183 185
|
|
216 214 185
|
|
216 245 214
|
|
184 173 155
|
|
237 204 236
|
|
175 146 173
|
|
205 175 204
|
|
205 174 175
|
|
122 139 111
|
|
97 121 119
|
|
150 151 122
|
|
102 101 125
|
|
103 102 125
|
|
83 101 102
|
|
393 397 412
|
|
346 375 347
|
|
317 346 347
|
|
339 318 347
|
|
286 316 317
|
|
373 374 346
|
|
374 397 375
|
|
145 146 174
|
|
147 145 174
|
|
118 117 145
|
|
413 394 392
|
|
413 393 412
|
|
430 429 442
|
|
396 395 414
|
|
413 429 415
|
|
237 206 205
|
|
430 443 431
|
|
429 430 415
|
|
442 443 430
|
|
443 442 454
|
|
456 443 454
|
|
431 416 430
|
|
408 387 386
|
|
332 360 333
|
|
334 362 360
|
|
302 329 334
|
|
300 302 332
|
|
270 238 269
|
|
309 279 311
|
|
330 309 341
|
|
357 330 341
|
|
359 331 330
|
|
277 278 309
|
|
210 211 182
|
|
181 210 182
|
|
247 220 252
|
|
247 217 220
|
|
286 280 252
|
|
242 217 247
|
|
241 242 275
|
|
211 210 242
|
|
209 187 217
|
|
368 392 367
|
|
375 368 347
|
|
375 393 368
|
|
276 308 279
|
|
246 276 279
|
|
216 246 245
|
|
243 276 246
|
|
212 243 216
|
|
241 275 274
|
|
243 241 274
|
|
211 242 241
|
|
275 307 306
|
|
367 338 339
|
|
340 308 338
|
|
367 340 338
|
|
369 342 340
|
|
394 395 371
|
|
472 471 477
|
|
444 456 457
|
|
445 444 457
|
|
455 450 445
|
|
464 455 457
|
|
464 469 461
|
|
437 422 432
|
|
431 443 444
|
|
463 471 465
|
|
371 342 369
|
|
357 383 359
|
|
370 357 341
|
|
372 383 357
|
|
384 405 383
|
|
417 406 396
|
|
422 424 406
|
|
417 422 406
|
|
416 417 396
|
|
432 444 445
|
|
437 424 422
|
|
385 359 383
|
|
407 385 405
|
|
386 362 385
|
|
309 330 299
|
|
383 405 385
|
|
330 357 359
|
|
384 396 406
|
|
405 384 406
|
|
372 396 384
|
|
370 371 395
|
|
357 370 372
|
|
342 371 370
|
|
311 342 341
|
|
310 340 342
|
|
372 384 383
|
|
385 362 358
|
|
279 308 310
|
|
340 310 308
|
|
339 368 367
|
|
396 414 416
|
|
392 394 369
|
|
367 392 369
|
|
340 367 369
|
|
339 347 368
|
|
393 413 392
|
|
368 393 392
|
|
375 397 393
|
|
413 415 414
|
|
429 413 412
|
|
395 396 372
|
|
370 395 372
|
|
341 342 370
|
|
369 394 371
|
|
414 415 430
|
|
394 414 395
|
|
394 413 414
|
|
302 270 269
|
|
237 269 238
|
|
204 237 205
|
|
236 269 237
|
|
456 463 465
|
|
469 476 470
|
|
467 460 462
|
|
464 465 472
|
|
461 455 464
|
|
462 461 469
|
|
451 450 461
|
|
457 465 464
|
|
447 459 458
|
|
446 447 458
|
|
435 448 447
|
|
434 435 447
|
|
381 403 402
|
|
421 436 435
|
|
402 403 420
|
|
428 436 421
|
|
448 459 447
|
|
436 448 435
|
|
436 449 448
|
|
420 421 435
|
|
450 439 437
|
|
457 455 445
|
|
453 462 460
|
|
441 452 449
|
|
461 462 453
|
|
424 407 405
|
|
427 426 410
|
|
408 425 410
|
|
440 451 438
|
|
439 440 427
|
|
439 451 440
|
|
407 386 385
|
|
425 407 424
|
|
439 425 424
|
|
427 410 425
|
|
425 408 407
|
|
365 390 389
|
|
437 439 424
|
|
426 409 410
|
|
411 423 428
|
|
404 409 423
|
|
361 363 335
|
|
390 365 387
|
|
410 390 408
|
|
410 409 390
|
|
389 363 365
|
|
388 389 409
|
|
391 382 404
|
|
364 389 388
|
|
333 303 301
|
|
336 327 305
|
|
364 336 363
|
|
364 355 336
|
|
335 336 305
|
|
438 428 423
|
|
440 438 426
|
|
441 449 436
|
|
451 441 438
|
|
452 461 453
|
|
449 452 453
|
|
451 461 452
|
|
455 461 450
|
|
441 436 428
|
|
472 476 469
|
|
471 472 465
|
|
477 476 472
|
|
460 467 468
|
|
459 460 468
|
|
462 469 470
|
|
449 453 460
|
|
452 441 451
|
|
428 438 441
|
|
462 470 467
|
|
474 470 476
|
|
481 479 476
|
|
480 475 474
|
|
449 460 448
|
|
474 467 470
|
|
475 473 468
|
|
416 431 417
|
|
302 300 270
|
|
450 451 439
|
|
456 444 443
|
|
463 456 454
|
|
417 432 422
|
|
465 457 456
|
|
464 472 469
|
|
439 427 425
|
|
445 450 437
|
|
426 423 409
|
|
440 426 427
|
|
438 423 426
|
|
424 405 406
|
|
416 414 430
|
|
325 354 352
|
|
355 356 337
|
|
327 355 328
|
|
327 336 355
|
|
411 391 404
|
|
421 411 428
|
|
403 381 391
|
|
421 403 411
|
|
421 420 403
|
|
401 380 402
|
|
411 404 423
|
|
366 391 381
|
|
366 356 382
|
|
337 356 366
|
|
326 337 353
|
|
326 355 337
|
|
364 388 382
|
|
434 447 446
|
|
300 332 301
|
|
468 473 466
|
|
448 460 459
|
|
467 475 468
|
|
434 446 433
|
|
420 434 419
|
|
420 435 434
|
|
411 403 391
|
|
418 400 419
|
|
380 379 354
|
|
262 294 295
|
|
387 360 362
|
|
390 387 408
|
|
361 333 360
|
|
365 361 387
|
|
365 363 361
|
|
364 363 389
|
|
335 333 361
|
|
366 381 380
|
|
337 366 353
|
|
382 388 404
|
|
366 382 391
|
|
356 355 382
|
|
432 445 437
|
|
431 432 417
|
|
431 444 432
|
|
404 388 409
|
|
358 329 331
|
|
358 334 329
|
|
386 387 362
|
|
407 408 386
|
|
390 409 389
|
|
360 332 334
|
|
387 361 360
|
|
335 303 333
|
|
332 302 334
|
|
419 434 433
|
|
400 418 399
|
|
379 401 400
|
|
377 379 399
|
|
377 352 379
|
|
419 433 418
|
|
401 419 400
|
|
402 420 419
|
|
325 352 324
|
|
366 380 353
|
|
379 400 399
|
|
380 401 379
|
|
353 380 354
|
|
381 402 380
|
|
402 419 401
|
|
398 399 418
|
|
398 376 378">
|
|
<edge equality="true" damping="0.1"/>
|
|
<elasticity poisson="0" young="3e5" thickness="8e-3" elastic2d="bend"/>
|
|
<contact solref="0.003"/>
|
|
</flexcomp>
|
|
|
|
</worldbody>
|
|
|
|
</mujoco>
|