File size: 1,098 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 | <mujoco model="gmsh">
<option timestep="0.01" integrator="implicitfast" solver="CG"/>
<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>
<headlight diffuse="0.9 0.9 0.9" ambient="0.3 0.3 0.3" specular="0 0 0"/>
<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="1 1 .05" type="plane" material="grid" condim="3"/>
<light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1"/>
<flexcomp name="shark" type="gmsh" dim="3" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 0.3"
mass="10" scale="1 1 1" file="cube_22_binary_vol_gmshApp.msh">
<edge equality="true"/>
</flexcomp>
</worldbody>
</mujoco>
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