[Add Model] Make a flex with textured bunny

- Make a flex with textured bunny from disscution(#2442)
google-deepmind · Mar 3, 2025 · 56dda2b · 56dda2b
1 parent e16354a
commit 56dda2b
Showing 1 changed file with 48 additions and 0 deletions.
diff --git a/model/flex/bunny_with_uv.xml b/model/flex/bunny_with_uv.xml
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+<!-- Copyright 2024 DeepMind Technologies Limited
+
+     Licensed under the Apache License, Version 2.0 (the "License");
+     you may not use this file except in compliance with the License.
+     You may obtain a copy of the License at
+
+         http://www.apache.org/licenses/LICENSE-2.0
+
+     Unless required by applicable law or agreed to in writing, software
+     distributed under the License is distributed on an "AS IS" BASIS,
+     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+     See the License for the specific language governing permissions and
+     limitations under the License.
+-->
+
+<mujoco model="Trilinear">
+  <include file="scene.xml"/>
+
+  <option solver="CG" tolerance="1e-6" timestep=".001" integrator="implicitfast"/>
+
+  <size memory="100M"/>
+
+  <visual>
+    <map stiffness="100"/>
+  </visual>
+
+
+  <asset>
+    <texture name="texsponge" type="2d" file="sponge.png"/>
+    <material name="matsponge" texture="texsponge" specular="0.3"/>
+  </asset>
+
+  <worldbody>
+    <body>
+      <joint name="press" type="slide" axis="0 0 1" damping="500"/>
+      <geom type="box" size=".02 .2 .2" pos="0 0 .5"/>
+    </body>
+    <flexcomp type="mesh" file="bunny_with_uv.obj" pos="0 0 .1" dim="2" euler="90 0 0"
+              radius=".001" material="matsponge" mass=".05" name="softbody" dof="trilinear">
+      <elasticity young="1e3" poisson="0.1" damping="0.001"/>
+      <contact selfcollide="none" internal="false"/>
+    </flexcomp>
+  </worldbody>
+
+  <actuator>
+    <position name="press" joint="press" gear="-1 0 0 0 0 0" ctrlrange="-1 1" kp="1000"/>
+  </actuator>
+</mujoco>