Speed up convex-convex collisions.
PiperOrigin-RevId: 613450874 Change-Id: Ie66e0a078e2ff51a136b949dd9459847e1fe957d
This commit is contained in:
Baruch Tabanpour
committed by
Copybara-Service
Copybara-Service
parent
106453fa2b
commit
22cd96fbbc
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# https://github.com/mikedh/trimesh
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@@ -0,0 +1,288 @@
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# https://github.com/mikedh/trimesh
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v 6.52790384 6.33851034 22.92923670
|
||||
v 7.37650233 7.00282503 24.49933456
|
||||
v -6.71762637 7.61275679 22.70424477
|
||||
v -6.27464471 6.43274232 22.14945120
|
||||
v -3.25255024 7.24845029 20.11592765
|
||||
v 1.91096432 7.43638768 34.84101849
|
||||
v 5.17432765 6.75352949 33.87613774
|
||||
v 7.52432026 5.93372585 30.18058739
|
||||
v -3.24835546 7.28503241 34.62798014
|
||||
v -7.16568535 5.90046745 31.83913660
|
||||
v -7.54060967 6.36598267 28.22611851
|
||||
v -8.67169909 6.20329766 15.65355212
|
||||
v 4.56589868 6.56222219 34.44826307
|
||||
v -4.37970367 6.60081864 34.41987413
|
||||
v 3.35922860 6.54988825 33.55138553
|
||||
v -1.58205973 6.84531224 34.12029778
|
||||
f 2 3 1
|
||||
f 1 3 4
|
||||
f 10 7 9
|
||||
f 14 6 11
|
||||
f 11 12 14
|
||||
f 14 12 13
|
||||
f 6 14 5
|
||||
f 4 3 10
|
||||
f 8 5 9
|
||||
f 9 5 14
|
||||
f 9 14 10
|
||||
f 10 14 13
|
||||
f 10 13 4
|
||||
f 17 18 19
|
||||
f 19 20 17
|
||||
f 25 26 17
|
||||
f 17 26 18
|
||||
f 22 26 25
|
||||
f 17 20 16
|
||||
f 16 20 15
|
||||
f 16 15 27
|
||||
f 24 23 22
|
||||
f 22 38 24
|
||||
f 24 35 37
|
||||
f 24 38 35
|
||||
f 36 37 35
|
||||
f 39 27 15
|
||||
f 15 21 39
|
||||
f 42 43 41
|
||||
f 42 41 40
|
||||
f 16 27 47
|
||||
f 16 47 48
|
||||
f 16 48 17
|
||||
f 22 25 38
|
||||
f 49 35 50
|
||||
f 50 35 38
|
||||
f 46 36 49
|
||||
f 49 36 35
|
||||
f 50 48 47
|
||||
f 50 47 51
|
||||
f 25 17 48
|
||||
f 47 27 51
|
||||
f 51 27 45
|
||||
f 49 50 51
|
||||
f 49 51 46
|
||||
f 38 25 48
|
||||
f 38 48 50
|
||||
f 46 51 45
|
||||
f 52 27 39
|
||||
f 53 56 55
|
||||
f 54 29 28
|
||||
f 53 58 57
|
||||
f 29 54 53
|
||||
f 29 53 31
|
||||
f 31 53 57
|
||||
f 54 56 53
|
||||
f 55 58 53
|
||||
f 30 29 31
|
||||
f 24 37 33
|
||||
f 54 28 34
|
||||
f 36 56 37
|
||||
f 55 56 36
|
||||
f 56 54 34
|
||||
f 34 33 37
|
||||
f 34 37 56
|
||||
f 40 59 42
|
||||
f 42 59 39
|
||||
f 42 39 21
|
||||
f 40 41 60
|
||||
f 60 41 61
|
||||
f 61 44 60
|
||||
f 31 57 62
|
||||
f 58 62 57
|
||||
f 62 63 31
|
||||
f 32 31 63
|
||||
f 44 32 63
|
||||
f 64 55 36
|
||||
f 64 36 46
|
||||
f 64 46 65
|
||||
f 65 46 45
|
||||
f 27 52 45
|
||||
f 45 52 65
|
||||
f 62 66 63
|
||||
f 59 67 39
|
||||
f 39 65 52
|
||||
f 62 58 68
|
||||
f 68 58 55
|
||||
f 67 66 68
|
||||
f 65 68 64
|
||||
f 60 44 63
|
||||
f 60 63 66
|
||||
f 66 62 68
|
||||
f 64 68 55
|
||||
f 40 60 59
|
||||
f 59 60 66
|
||||
f 59 66 67
|
||||
f 39 67 65
|
||||
f 65 67 68
|
||||
f 30 32 69
|
||||
f 31 32 30
|
||||
f 29 74 28
|
||||
f 28 74 72
|
||||
f 30 69 74
|
||||
f 30 74 29
|
||||
f 28 72 34
|
||||
f 34 72 73
|
||||
f 34 73 33
|
||||
f 24 33 23
|
||||
f 23 33 73
|
||||
f 23 73 70
|
||||
f 75 23 70
|
||||
f 75 22 23
|
||||
f 76 18 26
|
||||
f 76 26 75
|
||||
f 26 22 75
|
||||
f 8 43 42
|
||||
f 8 42 21
|
||||
f 15 8 21
|
||||
f 11 19 76
|
||||
f 11 5 8
|
||||
f 11 6 5
|
||||
f 11 8 15
|
||||
f 11 15 20
|
||||
f 11 20 19
|
||||
f 76 19 18
|
||||
f 43 61 41
|
||||
f 44 61 43
|
||||
f 44 43 71
|
||||
f 32 44 71
|
||||
f 32 71 69
|
||||
f 77 43 8
|
||||
f 76 78 11
|
||||
f 79 80 2
|
||||
f 2 80 81
|
||||
f 81 80 82
|
||||
f 81 82 83
|
||||
f 84 85 1
|
||||
f 1 85 86
|
||||
f 79 87 80
|
||||
f 89 82 88
|
||||
f 87 88 80
|
||||
f 80 88 82
|
||||
f 87 79 90
|
||||
f 90 79 86
|
||||
f 85 91 90
|
||||
f 90 86 85
|
||||
f 89 69 71
|
||||
f 83 82 89
|
||||
f 7 77 9
|
||||
f 77 8 9
|
||||
f 1 86 79
|
||||
f 1 79 2
|
||||
f 10 81 7
|
||||
f 43 77 7
|
||||
f 83 89 71
|
||||
f 83 71 43
|
||||
f 3 2 10
|
||||
f 10 2 81
|
||||
f 7 81 83
|
||||
f 83 43 7
|
||||
f 92 85 84
|
||||
f 70 92 75
|
||||
f 78 12 11
|
||||
f 93 92 84
|
||||
f 93 76 75
|
||||
f 76 93 78
|
||||
f 93 12 78
|
||||
f 1 4 13
|
||||
f 1 13 12
|
||||
f 1 12 84
|
||||
f 84 12 93
|
||||
f 93 75 92
|
||||
f 94 88 87
|
||||
f 91 95 90
|
||||
f 94 89 88
|
||||
f 69 89 94
|
||||
f 96 94 97
|
||||
f 97 94 95
|
||||
f 97 95 91
|
||||
f 90 95 87
|
||||
f 95 94 87
|
||||
f 72 97 73
|
||||
f 73 97 70
|
||||
f 74 97 72
|
||||
f 74 96 97
|
||||
f 74 69 96
|
||||
f 85 92 91
|
||||
f 70 91 92
|
||||
f 91 70 97
|
||||
f 94 96 69
|
||||
@@ -1,7 +1,7 @@
|
||||
<mujoco model="right_shadow_hand">
|
||||
<compiler angle="radian" meshdir="assets" autolimits="true"/>
|
||||
|
||||
<option impratio="10" iterations="1" ls_iterations="4">
|
||||
<option impratio="10" iterations="1" ls_iterations="4" timestep="0.001">
|
||||
<flag eulerdamp="disable"/>
|
||||
</option>
|
||||
|
||||
@@ -74,7 +74,7 @@
|
||||
<geom type="mesh" material="black" contype="0" conaffinity="0" group="2"/>
|
||||
</default>
|
||||
<default class="plastic_collision">
|
||||
<geom group="3" contype="0" conaffinity="1"/>
|
||||
<geom group="3" contype="1" conaffinity="1"/>
|
||||
</default>
|
||||
</default>
|
||||
</default>
|
||||
@@ -94,10 +94,12 @@
|
||||
<mesh class="right_hand" file="f_proximal.obj"/>
|
||||
<mesh class="right_hand" file="f_middle.obj"/>
|
||||
<mesh class="right_hand" file="f_distal_pst.obj"/>
|
||||
<mesh class="right_hand" file="f_distal_pst_214.obj"/>
|
||||
<mesh class="right_hand" file="lf_metacarpal.obj"/>
|
||||
<mesh class="right_hand" file="th_proximal.obj"/>
|
||||
<mesh class="right_hand" file="th_middle.obj"/>
|
||||
<mesh class="right_hand" file="th_distal_pst.obj"/>
|
||||
<mesh class="right_hand" file="th_distal_pst_190.obj"/>
|
||||
</asset>
|
||||
|
||||
<worldbody>
|
||||
@@ -105,16 +107,16 @@
|
||||
<inertial mass="3" pos="0 0 0.09" diaginertia="0.0138 0.0138 0.00744"/>
|
||||
<geom class="plastic_visual" mesh="forearm_0" material="gray"/>
|
||||
<geom class="plastic_visual" mesh="forearm_1"/>
|
||||
<geom class="plastic_collision" type="mesh" mesh="forearm_collision" conaffinity="0"/>
|
||||
<geom class="plastic_collision" type="mesh" mesh="forearm_collision" conaffinity="0" contype="0"/>
|
||||
<geom class="plastic_collision" size="0.035 0.035 0.035" pos="0 -0.01 0.181" quat="0.924909 0 0.380188 0"
|
||||
type="box" conaffinity="0"/>
|
||||
<body name="rh_wrist" pos="0 -0.01 0.21301">
|
||||
<inertial mass="0.1" pos="0 0 0.029" quat="0.5 0.5 0.5 0.5" diaginertia="6.4e-05 4.38e-05 3.5e-05"/>
|
||||
<joint class="wrist_y" name="rh_WRJ2"/>
|
||||
<geom class="plastic_visual" mesh="wrist" material="metallic"/>
|
||||
<geom size="0.0135 0.015" quat="0.499998 0.5 0.5 -0.500002" type="cylinder" class="plastic_collision" conaffinity="0"/>
|
||||
<geom size="0.011 0.005" pos="-0.026 0 0.034" quat="1 0 1 0" type="cylinder" class="plastic_collision" conaffinity="0"/>
|
||||
<geom size="0.011 0.005" pos="0.031 0 0.034" quat="1 0 1 0" type="cylinder" class="plastic_collision" conaffinity="0"/>
|
||||
<geom size="0.0135 0.015" quat="0.499998 0.5 0.5 -0.500002" type="cylinder" class="plastic_collision" conaffinity="0" contype="0"/>
|
||||
<geom size="0.011 0.005" pos="-0.026 0 0.034" quat="1 0 1 0" type="cylinder" class="plastic_collision" conaffinity="0" contype="0"/>
|
||||
<geom size="0.011 0.005" pos="0.031 0 0.034" quat="1 0 1 0" type="cylinder" class="plastic_collision" conaffinity="0" contype="0"/>
|
||||
<geom size="0.0135 0.009 0.005" pos="-0.021 0 0.011" quat="0.923879 0 0.382684 0" type="box"
|
||||
class="plastic_collision" conaffinity="0"/>
|
||||
<geom size="0.0135 0.009 0.005" pos="0.026 0 0.01" quat="0.923879 0 -0.382684 0" type="box"
|
||||
@@ -138,23 +140,23 @@
|
||||
<inertial mass="0.008" pos="0 0 0" quat="0.5 0.5 -0.5 0.5" diaginertia="3.2e-07 2.6e-07 2.6e-07"/>
|
||||
<joint name="rh_FFJ4" class="knuckle"/>
|
||||
<geom pos="0 0 0.0005" class="plastic_visual" mesh="f_knuckle" material="metallic"/>
|
||||
<geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="plastic_collision" conaffinity="0"/>
|
||||
<geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="plastic_collision" conaffinity="0" contype="0"/>
|
||||
<body name="rh_ffproximal">
|
||||
<inertial mass="0.03" pos="0 0 0.0225" quat="1 0 0 1" diaginertia="1e-05 9.8e-06 1.8e-06"/>
|
||||
<joint name="rh_FFJ3" class="proximal"/>
|
||||
<geom class="plastic_visual" mesh="f_proximal"/>
|
||||
<geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="plastic_collision" contype="1"/>
|
||||
<geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="plastic_collision"/>
|
||||
<body name="rh_ffmiddle" pos="0 0 0.045">
|
||||
<inertial mass="0.017" pos="0 0 0.0125" quat="1 0 0 1" diaginertia="2.7e-06 2.6e-06 8.7e-07"/>
|
||||
<joint name="rh_FFJ2" class="middle_distal"/>
|
||||
<geom class="plastic_visual" mesh="f_middle"/>
|
||||
<geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="plastic_collision" contype="1"/>
|
||||
<geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="plastic_collision"/>
|
||||
<body name="rh_ffdistal" pos="0 0 0.025">
|
||||
<inertial mass="0.013" pos="0 0 0.0130769" quat="1 0 0 1"
|
||||
diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/>
|
||||
<joint name="rh_FFJ1" class="middle_distal"/>
|
||||
<geom class="plastic_visual" mesh="f_distal_pst"/>
|
||||
<geom class="plastic_collision" type="mesh" mesh="f_distal_pst"/>
|
||||
<geom class="plastic_collision" type="mesh" mesh="f_distal_pst_214"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
@@ -163,23 +165,23 @@
|
||||
<inertial mass="0.008" pos="0 0 0" quat="0.5 0.5 -0.5 0.5" diaginertia="3.2e-07 2.6e-07 2.6e-07"/>
|
||||
<joint name="rh_MFJ4" class="knuckle"/>
|
||||
<geom pos="0 0 0.0005" class="plastic_visual" mesh="f_knuckle" material="metallic"/>
|
||||
<geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="plastic_collision" conaffinity="0"/>
|
||||
<geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="plastic_collision" conaffinity="0" contype="0"/>
|
||||
<body name="rh_mfproximal">
|
||||
<inertial mass="0.03" pos="0 0 0.0225" quat="1 0 0 1" diaginertia="1e-05 9.8e-06 1.8e-06"/>
|
||||
<joint name="rh_MFJ3" class="proximal"/>
|
||||
<geom class="plastic_visual" mesh="f_proximal"/>
|
||||
<geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="plastic_collision" contype="1"/>
|
||||
<geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="plastic_collision"/>
|
||||
<body name="rh_mfmiddle" pos="0 0 0.045">
|
||||
<inertial mass="0.017" pos="0 0 0.0125" quat="1 0 0 1" diaginertia="2.7e-06 2.6e-06 8.7e-07"/>
|
||||
<joint name="rh_MFJ2" class="middle_distal"/>
|
||||
<geom class="plastic_visual" mesh="f_middle"/>
|
||||
<geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="plastic_collision" contype="1"/>
|
||||
<geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="plastic_collision"/>
|
||||
<body name="rh_mfdistal" pos="0 0 0.025">
|
||||
<inertial mass="0.013" pos="0 0 0.0130769" quat="1 0 0 1"
|
||||
diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/>
|
||||
<joint name="rh_MFJ1" class="middle_distal"/>
|
||||
<geom class="plastic_visual" mesh="f_distal_pst"/>
|
||||
<geom class="plastic_collision" type="mesh" mesh="f_distal_pst"/>
|
||||
<geom class="plastic_collision" type="mesh" mesh="f_distal_pst_214"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
@@ -188,23 +190,23 @@
|
||||
<inertial mass="0.008" pos="0 0 0" quat="0.5 0.5 -0.5 0.5" diaginertia="3.2e-07 2.6e-07 2.6e-07"/>
|
||||
<joint name="rh_RFJ4" class="knuckle" axis="0 1 0"/>
|
||||
<geom pos="0 0 0.0005" class="plastic_visual" mesh="f_knuckle" material="metallic"/>
|
||||
<geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="plastic_collision" conaffinity="0"/>
|
||||
<geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="plastic_collision" conaffinity="0" contype="0"/>
|
||||
<body name="rh_rfproximal">
|
||||
<inertial mass="0.03" pos="0 0 0.0225" quat="1 0 0 1" diaginertia="1e-05 9.8e-06 1.8e-06"/>
|
||||
<joint name="rh_RFJ3" class="proximal"/>
|
||||
<geom class="plastic_visual" mesh="f_proximal"/>
|
||||
<geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="plastic_collision" contype="1"/>
|
||||
<geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="plastic_collision"/>
|
||||
<body name="rh_rfmiddle" pos="0 0 0.045">
|
||||
<inertial mass="0.017" pos="0 0 0.0125" quat="1 0 0 1" diaginertia="2.7e-06 2.6e-06 8.7e-07"/>
|
||||
<joint name="rh_RFJ2" class="middle_distal"/>
|
||||
<geom class="plastic_visual" mesh="f_middle"/>
|
||||
<geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="plastic_collision" contype="1"/>
|
||||
<geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="plastic_collision"/>
|
||||
<body name="rh_rfdistal" pos="0 0 0.025">
|
||||
<inertial mass="0.013" pos="0 0 0.0130769" quat="1 0 0 1"
|
||||
diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/>
|
||||
<joint name="rh_RFJ1" class="middle_distal"/>
|
||||
<geom class="plastic_visual" mesh="f_distal_pst"/>
|
||||
<geom class="plastic_collision" type="mesh" mesh="f_distal_pst"/>
|
||||
<geom class="plastic_collision" type="mesh" mesh="f_distal_pst_214"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
@@ -218,23 +220,23 @@
|
||||
<inertial mass="0.008" pos="0 0 0" quat="0.5 0.5 -0.5 0.5" diaginertia="3.2e-07 2.6e-07 2.6e-07"/>
|
||||
<joint name="rh_LFJ4" class="knuckle" axis="0 1 0"/>
|
||||
<geom pos="0 0 0.0005" class="plastic_visual" mesh="f_knuckle" material="metallic"/>
|
||||
<geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="plastic_collision" conaffinity="0"/>
|
||||
<geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="plastic_collision" conaffinity="0" contype="0"/>
|
||||
<body name="rh_lfproximal">
|
||||
<inertial mass="0.03" pos="0 0 0.0225" quat="1 0 0 1" diaginertia="1e-05 9.8e-06 1.8e-06"/>
|
||||
<joint name="rh_LFJ3" class="proximal"/>
|
||||
<geom class="plastic_visual" mesh="f_proximal"/>
|
||||
<geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="plastic_collision" contype="1"/>
|
||||
<geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="plastic_collision"/>
|
||||
<body name="rh_lfmiddle" pos="0 0 0.045">
|
||||
<inertial mass="0.017" pos="0 0 0.0125" quat="1 0 0 1" diaginertia="2.7e-06 2.6e-06 8.7e-07"/>
|
||||
<joint name="rh_LFJ2" class="middle_distal"/>
|
||||
<geom class="plastic_visual" mesh="f_middle"/>
|
||||
<geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="plastic_collision" contype="1"/>
|
||||
<geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="plastic_collision"/>
|
||||
<body name="rh_lfdistal" pos="0 0 0.025">
|
||||
<inertial mass="0.013" pos="0 0 0.0130769" quat="1 0 0 1"
|
||||
diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/>
|
||||
<joint name="rh_LFJ1" class="middle_distal"/>
|
||||
<geom class="plastic_visual" mesh="f_distal_pst"/>
|
||||
<geom class="plastic_collision" type="mesh" mesh="f_distal_pst"/>
|
||||
<geom class="plastic_collision" type="mesh" mesh="f_distal_pst_214"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
@@ -248,23 +250,23 @@
|
||||
<inertial mass="0.04" pos="0 0 0.019" diaginertia="1.36e-05 1.36e-05 3.13e-06"/>
|
||||
<joint name="rh_THJ4" class="thproximal"/>
|
||||
<geom class="plastic_visual" mesh="th_proximal"/>
|
||||
<geom class="plastic_collision" size="0.0105 0.009" pos="0 0 0.02" type="capsule" contype="1"/>
|
||||
<geom class="plastic_collision" size="0.0105 0.009" pos="0 0 0.02" type="capsule"/>
|
||||
<body name="rh_thhub" pos="0 0 0.038">
|
||||
<inertial mass="0.005" pos="0 0 0" diaginertia="1e-06 1e-06 3e-07"/>
|
||||
<joint name="rh_THJ3" class="thhub"/>
|
||||
<geom size="0.011" class="plastic_collision" contype="1"/>
|
||||
<geom size="0.011" class="plastic_collision"/>
|
||||
<body name="rh_thmiddle">
|
||||
<inertial mass="0.02" pos="0 0 0.016" diaginertia="5.1e-06 5.1e-06 1.21e-06"/>
|
||||
<joint name="rh_THJ2" class="thmiddle"/>
|
||||
<geom class="plastic_visual" mesh="th_middle"/>
|
||||
<geom size="0.009 0.009" pos="0 0 0.012" type="capsule" class="plastic_collision" contype="1"/>
|
||||
<geom size="0.009 0.009" pos="0 0 0.012" type="capsule" class="plastic_collision"/>
|
||||
<geom size="0.01" pos="0 0 0.03" class="plastic_collision"/>
|
||||
<body name="rh_thdistal" pos="0 0 0.032" quat="1 0 0 -1">
|
||||
<inertial mass="0.017" pos="0 0 0.0145588" quat="1 0 0 1"
|
||||
diaginertia="2.37794e-06 2.27794e-06 1e-06"/>
|
||||
<joint name="rh_THJ1" class="thdistal"/>
|
||||
<geom class="plastic_visual" mesh="th_distal_pst"/>
|
||||
<geom class="plastic_collision" type="mesh" mesh="th_distal_pst"/>
|
||||
<geom class="plastic_collision" type="mesh" mesh="th_distal_pst_190"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
Reference in New Issue
Block a user