File size: 2,330 Bytes
2c55b92 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 | <mujoco model="flex">
<option timestep="0.01" integrator="implicitfast">
<flag island="enable"/>
</option>
<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>
<scale contactwidth="20" contactheight="10" jointlength="30" jointwidth="1"/>
<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="5 5 .05" type="plane" material="grid" condim="3"/>
<light specular="0 0 0" pos="0 0 2" dir="0 0 -1"/>
<body pos="0 0 1">
<freejoint/>
<geom type="capsule" size="0.05 0.03" rgba=".6 .6 .6 1"/>
</body>
<body name="sphere" pos="0 0 0.8">
<inertial pos="0 0 0" mass="1" diaginertia="0.01 0.01 0.01"/>
<freejoint/>
<flexcomp name="f1" type="ellipsoid" rgba=".8 .2 .2 1" radius="0.001" count="4 4 4"
spacing=".025 .025 .025" dim="3" mass="1" dof="radial">
<edge equality="true" solref="0.15 0.2" stiffness="0" damping="0"/>
<contact internal="true"/>
</flexcomp>
</body>
<flexcomp name="f2" type="grid" rgba="1 1 0 1" radius="0.003" dim="2" pos="0 0 .1"
zaxis="0 0 1" count="6 6 1" mass="1" spacing="0.02 0.03 0.04" material="grid">
<edge equality="true" solref="0.15 0.2" stiffness="0" damping="0"/>
<contact internal="true"/>
<pin id="0"/>
</flexcomp>
<flexcomp name="f3" type="grid" rgba=".6 .5 .1 1" radius="0.003" dim="3" pos="0 0 .3"
zaxis="1 1 1" count="3 3 3" mass="1" spacing="0.02 0.03 0.04">
<edge equality="true" solref="0.15 0.2" stiffness="0" damping="0"/>
<contact internal="true"/>
</flexcomp>
<flexcomp type="grid" count="8 8 8" spacing=".007 .007 .007" pos="0 0 1.5" dim="3"
radius=".0001" rgba="0 .7 .7 1" mass=".25" name="softbody" dof="trilinear">
<elasticity young="1e4" poisson="0.1" damping="0.01"/>
<contact selfcollide="none"/>
</flexcomp>
</worldbody>
</mujoco>
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