| <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="cube" type="gmsh" dim="2" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 0" | |
| mass="10" scale="1 1 1" file="cube_22_binary_surf_gmshApp.msh"> | |
| <edge equality="true"/> | |
| </flexcomp> | |
| </worldbody> | |
| </mujoco> | |