Move flex damping to the engine and remove membrane and solid plugins.

PiperOrigin-RevId: 676434954 Change-Id: I24e8dbaa90afcffd613a9cf106ef8b7262195328
2024-09-19 09:00:13 -07:00
parent 6c7e1095c5
commit 4998e7b392
26 changed files with 88 additions and 618 deletions
@@ -0,0 +1,45 @@
+<!-- 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"/>
+
+  <compiler autolimits="true"/>
+
+  <option solver="CG" tolerance="1e-6" timestep=".001"/>
+
+  <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="25">
+      <contact condim="3" solref="0.01 1" solimp=".95 .99 .0001" selfcollide="none"/>
+      <elasticity young="5e4" damping="0.002" poisson="0.2"/>
+    </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>