| <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> | |