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 +1,58 @@
+<!-- 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"/>
+
+  <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"/>
+      <elasticity young="1e4" poisson="0.4"/>
+    </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"/>
+      <elasticity young="5e4" poisson="0"/>
+    </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>