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Update Solid and Shell plugins to use FlexComp.

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PiperOrigin-RevId: 573755821
Change-Id: I3b8d7fb27f0e940038fa9fd2b26ecc746df4f7ac
This commit is contained in:
Alessio Quaglino
2023-10-16 03:02:14 -07:00
committed by Copybara-Service
parent 93d1c3c92e
commit 110ade1435
26 changed files with 1988 additions and 177 deletions
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model/plugin/elasticity/flag.xml
-1
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@@ -39,7 +39,6 @@
<geom type="ellipsoid" size="0.025 0.01 0.025" rgba=".8 .2 .1 1" group="4"/>
<plugin plugin="mujoco.elasticity.shell">
<config key="poisson" value="0"/>
<config key="damping" value="0.001"/>
<config key="thickness" value="1e-2"/>
<!--Units are in Pa (SI)-->
<config key="young" value="3e6"/>
model/plugin/elasticity/flag_flex.xml
+54
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@@ -0,0 +1,54 @@
<!-- Copyright 2021 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="Flag">
<!-- Degree of Freedom (nv): 340
Tendons (ntendon): 288
Actuators (nu): 0
Constraints (nefc): 0
This model of a flag passively flapping in the wind has no constraints and is designed to
exert smooth dynamics computations.
-->
<statistic center=".4 0 .8" extent="1.3"/>
<option wind="5 5 0" density="10" solver="CG" tolerance="1e-6">
</option>
<extension>
<plugin plugin="mujoco.elasticity.shell"/>
</extension>
<worldbody>
<geom name="floor" type="plane" size="0 0 .1"/>
<light diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
<body name="pin" pos="0 0 1.5">
<flexcomp type="grid" count="9 19 1" spacing=".05 .05 .05" mass="10"
name="flag" radius="0.001">
<edge equality="true" damping="0.001"/>
<plugin plugin="mujoco.elasticity.shell">
<config key="poisson" value="0"/>
<config key="thickness" value="1e-2"/>
<!--Units are in Pa (SI)-->
<config key="young" value="3e6"/>
</plugin>
</flexcomp>
</body>
</worldbody>
<equality>
<connect body1="flag_0" anchor="0 0 0"/>
</equality>
</mujoco>
model/plugin/elasticity/floppy_flex.xml
+54
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@@ -0,0 +1,54 @@
<!-- Copyright 2021 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="Floppy">
<include file="scene.xml"/>
<extension>
<plugin plugin="mujoco.elasticity.solid"/>
</extension>
<compiler autolimits="true"/>
<option solver="CG" tolerance="1e-6" timestep=".001" integrator="implicitfast"/>
<size memory="100M"/>
<visual>
<map stiffness="100"/>
</visual>
<worldbody>
<flexcomp type="grid" count="24 4 4" spacing=".1 .1 .1" pos=".1 0 1.5"
radius=".0" rgba="0 .7 .7 1" name="softbody" dim="3" mass="7">
<contact condim="3" solref="0.01 1" solimp=".95 .99 .0001" selfcollide="none"/>
<edge damping="1"/>
<plugin plugin="mujoco.elasticity.solid">
<config key="poisson" value="0.2"/>
<!--Units are in Pa (SI)-->
<config key="young" value="5e4"/>
</plugin>
</flexcomp>
<body>
<joint name="hinge" pos="0 0 .5" axis="0 1 0" damping="50"/>
<geom type="cylinder" size=".4" fromto="0 -.5 .5 0 .5 .5" density="300"/>
</body>
</worldbody>
<actuator>
<motor name="cylinder" joint="hinge" gear="1 0 0 0 0 0" ctrlrange="-100 100"/>
</actuator>
</mujoco>
model/plugin/elasticity/jelly_flex.xml
+56
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@@ -0,0 +1,56 @@
<!-- Copyright 2021 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="Jelly">
<include file="scene.xml"/>
<extension>
<plugin plugin="mujoco.elasticity.solid"/>
</extension>
<option solver="CG" tolerance="1e-6" timestep=".001" integrator="implicitfast"/>
<size memory="10M"/>
<visual>
<map stiffness="100"/>
</visual>
<default>
<default class="wall">
<geom type="plane" size=".5 .5 .05"/>
</default>
</default>
<worldbody>
<body mocap="true" pos="-.1 .05 0" zaxis=".5 0 1">
<geom type="capsule" size=".1 .1" group="1" condim="1"/>
</body>
<geom name="+x" class="wall" zaxis="1 0 0" pos="-.5 0 -.25"/>
<geom name="-x" class="wall" zaxis="-1 0 0" pos=".5 0 -.25"/>
<geom name="+y" class="wall" zaxis="0 1 0" pos="0 -.5 -.25"/>
<geom name="-y" class="wall" zaxis="0 -1 0" pos="0 .5 -.25"/>
<flexcomp type="grid" count="8 8 8" spacing=".07 .07 .07" pos="0 0 1" dim="3"
radius=".005" rgba="0 .7 .7 1" mass="5" name="softbody">
<edge damping="1"/>
<contact selfcollide="none"/>
<plugin plugin="mujoco.elasticity.solid">
<config key="poisson" value="0"/>
<!--Units are in Pa (SI)-->
<config key="young" value="5e4"/>
</plugin>
</flexcomp>
</worldbody>
</mujoco>
model/plugin/elasticity/plate.xml
-1
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@@ -44,7 +44,6 @@
<skin inflate="0.0001" rgba=".4 0 .3 1" subgrid="1"/>
<plugin plugin="mujoco.elasticity.shell">
<config key="poisson" value="0"/>
<config key="damping" value="0.001"/>
<config key="thickness" value="1e-2"/>
<!--Units are in Pa (SI)-->
<config key="young" value="3e7"/>
model/plugin/elasticity/plate_flex.xml
+53
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@@ -0,0 +1,53 @@
<!-- Copyright 2021 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="Plate">
<include file="scene.xml"/>
<extension>
<plugin plugin="mujoco.elasticity.shell"/>
</extension>
<option solver="CG" tolerance="1e-6" integrator="implicitfast"/>
<size memory="10M"/>
<visual>
<map stiffness="100"/>
</visual>
<default>
<default class="wall">
<geom type="plane" size=".5 .5 .05"/>
</default>
</default>
<worldbody>
<body mocap="true" pos="-.1 .05 0" zaxis=".5 0 1">
<geom type="capsule" size=".1 .1" group="1"/>
</body>
<flexcomp type="grid" count="16 16 1" spacing=".05 .05 .05" pos="0 0 1"
radius=".001" mass="100" name="plate">
<contact condim="3" solref="0.01 1" solimp=".95 .99 .0001"/>
<edge equality="true" damping="0.001"/>
<plugin plugin="mujoco.elasticity.shell">
<config key="poisson" value="0"/>
<config key="thickness" value="1e-2"/>
<!--Units are in Pa (SI)-->
<config key="young" value="3e7"/>
</plugin>
</flexcomp>
</worldbody>
</mujoco>
model/plugin/elasticity/poncho.xml
-1
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@@ -1407,7 +1407,6 @@
<skin inflate="0.001" rgba=".4 0 .3 1"/>
<plugin plugin="mujoco.elasticity.shell">
<config key="poisson" value="0"/>
<config key="damping" value="0.001"/>
<config key="thickness" value="8e-3"/>
<!--Units are in Pa (SI)-->
<config key="young" value="3e7"/>
model/plugin/elasticity/poncho_flex.xml
+1427
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model/plugin/elasticity/press_flex.xml
+70
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@@ -0,0 +1,70 @@
<!-- Copyright 2021 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="Press">
<include file="scene.xml"/>
<extension>
<plugin plugin="mujoco.elasticity.solid"/>
</extension>
<compiler autolimits="true"/>
<option solver="Newton" tolerance="1e-6" timestep=".001" integrator="implicitfast"/>
<size memory="10M"/>
<visual>
<map stiffness="100"/>
</visual>
<worldbody>
<flexcomp name="A" type="grid" count="4 4 4" spacing=".2 .2 .2" pos="0 0 .5"
radius=".005" rgba="0 .7 .7 1" dim="3" mass="5">
<contact condim="3" solref="0.01 1" solimp=".95 .99 .0001" selfcollide="none"/>
<edge damping="1"/>
<plugin plugin="mujoco.elasticity.solid">
<config key="poisson" value="0.4"/>
<!--Units are in Pa (SI)-->
<config key="young" value="1e4"/>
</plugin>
</flexcomp>
<flexcomp name="B" type="grid" count="4 4 4" spacing=".2 .2 .2" pos="1 0 .5"
radius=".005" rgba="0 .7 .7 1" dim="3" mass="5">
<contact condim="3" solref="0.01 1" solimp=".95 .99 .0001" selfcollide="none"/>
<edge damping="1"/>
<plugin plugin="mujoco.elasticity.solid">
<config key="poisson" value="0"/>
<!--Units are in Pa (SI)-->
<config key="young" value="5e4"/>
</plugin>
</flexcomp>
<body>
<joint name="soft" type="slide" axis="0 0 1" damping="500"/>
<geom type="box" size=".35 .35 0.05" pos=".1 .1 1" density="300"/>
</body>
<body>
<joint name="stiff" type="slide" axis="0 0 1" damping="500"/>
<geom type="box" size=".35 .35 0.05" pos="1.1 .1 1" density="300"/>
</body>
</worldbody>
<actuator>
<motor name="soft" joint="soft" gear="-1 0 0 0 0 0" ctrlrange="-150 300"/>
<motor name="stiff" joint="stiff" gear="-1 0 0 0 0 0" ctrlrange="-150 1600"/>
</actuator>
</mujoco>