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

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PiperOrigin-RevId: 676434954
Change-Id: I24e8dbaa90afcffd613a9cf106ef8b7262195328
This commit is contained in:
Alessio Quaglino
2024-09-19 09:00:13 -07:00
committed by Copybara-Service
parent 6c7e1095c5
commit 4998e7b392
26 changed files with 88 additions and 618 deletions
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model/plugin/elasticity/floppy_flex.xml
-50
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@@ -1,50 +0,0 @@
<!-- 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"/>
<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"/>
<plugin plugin="mujoco.elasticity.solid"/>
</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
-53
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@@ -1,53 +0,0 @@
<!-- 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"/>
<elasticity young="5e4"/>
<plugin plugin="mujoco.elasticity.solid"/>
</flexcomp>
</worldbody>
</mujoco>
model/plugin/elasticity/press_flex.xml
-64
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@@ -1,64 +0,0 @@
<!-- 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"/>
<elasticity young="1e4" poisson="0.4"/>
<plugin plugin="mujoco.elasticity.solid"/>
</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"/>
<plugin plugin="mujoco.elasticity.solid"/>
</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>
model/plugin/elasticity/trampoline_flex.xml
-52
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@@ -1,52 +0,0 @@
<!-- 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="Trampoline">
<include file="scene.xml"/>
<extension>
<plugin plugin="mujoco.elasticity.shell"/>
<plugin plugin="mujoco.elasticity.membrane"/>
</extension>
<option timestep="0.001" 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 pos=".2 0 1.5">
<freejoint/>
<geom type="sphere" size=".1"/>
</body>
<flexcomp type="grid" count="16 16 1" spacing=".1 .1 .1" pos="0 0 1"
radius=".001" mass="10" name="plate" dim="2">
<contact condim="3" solref="0.01 1" solimp=".95 .99 .0001"/>
<edge equality="false" damping="10"/>
<elasticity young="3e5" poisson="0" thickness="1e-2"/>
<pin id="0 15 240 255"/>
<plugin plugin="mujoco.elasticity.membrane"/>
</flexcomp>
</worldbody>
</mujoco>