Added elasticity and sensor subfolders in model/plugin.
PiperOrigin-RevId: 558751363 Change-Id: I15acefc88e5fead1069b58ffb722ea4dc5d53c9b
This commit is contained in:
Alessio Quaglino
committed by
Copybara-Service
Copybara-Service
parent
ef699d4b6d
commit
8421544add
@@ -0,0 +1,77 @@
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||||
<!-- Copyright 2021 DeepMind Technologies Limited
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||||
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Licensed under the Apache License, Version 2.0 (the "License");
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||||
you may not use this file except in compliance with the License.
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||||
You may obtain a copy of the License at
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||||
|
||||
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.
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||||
-->
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||||
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<mujoco model="Belt">
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<include file="scene.xml"/>
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<extension>
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<plugin plugin="mujoco.elasticity.cable"/>
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</extension>
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<statistic center="0 0 .2" extent="1"/>
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<visual>
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<global elevation="-30"/>
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</visual>
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<option timestep="0.001">
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<flag gravity="disable"/>
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</option>
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<compiler autolimits="true"/>
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<worldbody>
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<composite type="cable" offset="-.5 0 .05" initial="none"
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vertex="
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0. 0. 0.
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||||
0.05 0. 0.05
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0.1 0. 0.1
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0.15 0. 0.15
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0.2 0. 0.2
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0.25 0. 0.25
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0.3 0. 0.3
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0.35 0. 0.35
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0.4 0. 0.4
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0.45 0. 0.45
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0.5 0. 0.5
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0.55 0. 0.45
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0.6 0. 0.4
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0.65 0. 0.35
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0.7 0. 0.3
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0.75 0. 0.25
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0.8 0. 0.2
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0.85 0. 0.15
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0.9 0. 0.1
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0.95 0. 0.05
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1.0 0. 0. ">
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<plugin plugin="mujoco.elasticity.cable">
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<!--Units are in Pa (SI)-->
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<config key="twist" value="1e8"/>
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<config key="bend" value="1e7"/>
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<config key="vmax" value="0.2"/>
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</plugin>
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<joint kind="main" damping="0.1"/>
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<geom type="box" size="0.03535533906 0.02 0.0015" rgba=".8 .2 .1 1" group="3"/>
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<skin subgrid="3"/>
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</composite>
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</worldbody>
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<equality>
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<connect name="right_boundary" body1="B_last" anchor="0.07 0 0"/>
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</equality>
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<actuator>
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<motor site="S_last" gear="0 0 0 1 0 0" ctrlrange="-.2 .2"/>
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</actuator>
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</mujoco>
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@@ -0,0 +1,57 @@
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<!-- Copyright 2021 DeepMind Technologies Limited
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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|
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http://www.apache.org/licenses/LICENSE-2.0
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|
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Unless required by applicable law or agreed to in writing, software
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||||
distributed under the License is distributed on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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||||
limitations under the License.
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-->
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<mujoco model="Cable">
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<include file="scene.xml"/>
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<extension>
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<plugin plugin="mujoco.elasticity.cable"/>
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</extension>
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<statistic center="0 0 .3" extent="1"/>
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<visual>
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<global elevation="-30"/>
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</visual>
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<compiler autolimits="true"/>
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<size memory="2M"/>
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<worldbody>
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<composite type="cable" curve="s" count="41 1 1" size="1" offset="-.3 0 .6" initial="none">
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<plugin plugin="mujoco.elasticity.cable">
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<!--Units are in Pa (SI)-->
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<config key="twist" value="1e7"/>
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<config key="bend" value="4e6"/>
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<config key="vmax" value="0.05"/>
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</plugin>
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<joint kind="main" damping=".015"/>
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<geom type="capsule" size=".005" rgba=".8 .2 .1 1" condim="1"/>
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</composite>
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<body name="slider" pos=".7 0 .6">
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<joint type="slide" axis="1 0 0" damping=".1"/>
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<geom size=".01"/>
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</body>
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</worldbody>
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<equality>
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<connect name="right_boundary" body1="B_last" body2="slider" anchor=".025 0 0"/>
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</equality>
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<contact>
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<exclude body1="B_last" body2="slider"/>
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</contact>
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<actuator>
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<motor site="S_last" gear="0 0 0 1 0 0" ctrlrange="-.03 .03"/>
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</actuator>
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</mujoco>
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@@ -0,0 +1,106 @@
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<!-- Copyright 2021 DeepMind Technologies Limited
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Licensed under the Apache License Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing software
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distributed under the License is distributed on an "AS IS" BASIS
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND either express or implied.
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See the License for the specific language governing permissions and
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||||
limitations under the License.
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-->
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<mujoco model="Coil">
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<include file="scene.xml"/>
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<extension>
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<plugin plugin="mujoco.elasticity.cable"/>
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</extension>
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<statistic center="0 0 .2" extent="1"/>
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<compiler autolimits="true"/>
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<visual>
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<global elevation="-30"/>
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</visual>
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<default>
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<geom solref="0.01 1" solimp=".95 .99 .0001"/>
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</default>
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<worldbody>
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<composite prefix="free" type="cable" offset="-.25 0 .3" initial="free"
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vertex="
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0.1 0. 0.
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||||
0.0809017 0.05877853 0.001256637
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||||
0.0309017 0.09510565 0.002513274
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||||
-0.0309017 0.09510565 0.003769911
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||||
-0.0809017 0.05877853 0.005026548
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||||
-0.1 0. 0.006283185
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||||
-0.0809017 -0.05877853 0.007539822
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||||
-0.0309017 -0.09510565 0.008796459
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||||
0.0309017 -0.09510565 0.010053096
|
||||
0.0809017 -0.05877853 0.011309734
|
||||
0.1 -0. 0.012566371
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||||
0.0809017 0.05877853 0.01256637
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||||
0.0309017 0.09510565 0.02513274
|
||||
-0.0309017 0.09510565 0.03769911
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||||
-0.0809017 0.05877853 0.05026548
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||||
-0.1 0. 0.06283185
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||||
-0.0809017 -0.05877853 0.07539822
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||||
-0.0309017 -0.09510565 0.08796459
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||||
0.0309017 -0.09510565 0.10053096
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||||
0.0809017 -0.05877853 0.11309734
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||||
0.1 -0. 0.12566371
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||||
0.0809017 0.05877853 0.13823008
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||||
0.0309017 0.09510565 0.15079645
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||||
-0.0309017 0.09510565 0.16336282
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||||
-0.0809017 0.05877853 0.17592919
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||||
-0.1 0. 0.18849556
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-0.0809017 -0.05877853 0.20106193
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||||
-0.0309017 -0.09510565 0.2136283
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0.0309017 -0.09510565 0.22619467
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0.0809017 -0.05877853 0.23876104
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0.1 -0. 0.25132741">
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<plugin plugin="mujoco.elasticity.cable">
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<!--Units are in Pa (SI)-->
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<config key="twist" value="5e8"/>
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<config key="bend" value="15e8"/>
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<config key="vmax" value="2"/>
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</plugin>
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<joint kind="main" damping="0.12" armature="0.01"/>
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<geom type="capsule" size=".005" rgba=".8 .2 .1 1"/>
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</composite>
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<composite prefix="actuated" type="cable" curve="cos(s) sin(s) s" count="41 1 1"
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size="0.251327412 .1 4" offset="0.25 0 .05" initial="fixed">
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<plugin plugin="mujoco.elasticity.cable">
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<!--Units are in Pa (SI)-->
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<config key="twist" value="5e8"/>
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<config key="bend" value="15e8"/>
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<config key="vmax" value="2"/>
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</plugin>
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<joint kind="main" damping="0.1" armature="0.01"/>
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<geom type="capsule" size=".005" rgba=".8 .2 .1 1"/>
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</composite>
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<body name="slider" pos="0.35 0 0.301327412">
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<joint name="slide" type="slide" axis="0 0 1" damping="5"/>
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<geom size=".01"/>
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</body>
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</worldbody>
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<equality>
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<connect name="right_boundary" body1="actuatedB_last" body2="slider" anchor="0.03 0 0" solref="0.0002 1"/>
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</equality>
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<contact>
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<exclude body1="actuatedB_last" body2="slider"/>
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</contact>
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<actuator>
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<position joint="slide" name="extend" gear="1 0 0 0 0 0" ctrlrange="-.25 1" kp="100"/>
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</actuator>
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</mujoco>
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@@ -0,0 +1,55 @@
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<!-- Copyright 2021 DeepMind Technologies Limited
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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|
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http://www.apache.org/licenses/LICENSE-2.0
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|
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Unless required by applicable law or agreed to in writing, software
|
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<mujoco model="Floppy">
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<include file="scene.xml"/>
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<extension>
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<plugin plugin="mujoco.elasticity.solid"/>
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</extension>
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<compiler autolimits="true"/>
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<option solver="Newton" tolerance="1e-6" timestep=".001"/>
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<size memory="100M"/>
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<visual>
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<map stiffness="100"/>
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</visual>
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|
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<worldbody>
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||||
<composite type="particle" count="24 4 4" spacing="0.1" offset=".1 0 1.5">
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||||
<geom size=".025" rgba=".8 .2 .1 1" group="4"
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condim="3" solref="0.01 1" solimp=".95 .99 .0001"/>
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<skin inflate="0" rgba="0 .7 .7 .6"/>
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<plugin plugin="mujoco.elasticity.solid">
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<config key="poisson" value="0.2"/>
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<config key="damping" value="0.002"/>
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<!--Units are in Pa (SI)-->
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<config key="young" value="5e4"/>
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</plugin>
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</composite>
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<body>
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<joint name="hinge" pos="0 0 .5" axis="0 1 0" damping="50"/>
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<geom type="cylinder" size=".4" fromto="0 -.5 .5 0 .5 .5" density="300"/>
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</body>
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</worldbody>
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<actuator>
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<motor name="cylinder" joint="hinge" gear="1 0 0 0 0 0" ctrlrange="-100 100"/>
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</actuator>
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</mujoco>
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@@ -0,0 +1,56 @@
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<!-- Copyright 2021 DeepMind Technologies Limited
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|
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Licensed under the Apache License, Version 2.0 (the "License");
|
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you may not use this file except in compliance with the License.
|
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You may obtain a copy of the License at
|
||||
|
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http://www.apache.org/licenses/LICENSE-2.0
|
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|
||||
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.
|
||||
-->
|
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|
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<mujoco model="Jelly">
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<include file="scene.xml"/>
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<extension>
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<plugin plugin="mujoco.elasticity.solid"/>
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</extension>
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<option solver="CG" tolerance="1e-6" timestep=".001"/>
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<size memory="10M"/>
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<visual>
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<map stiffness="100"/>
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</visual>
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<default>
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<default class="wall">
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<geom type="plane" size=".5 .5 .05"/>
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</default>
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</default>
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<worldbody>
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<body mocap="true" pos="-.1 .05 0" zaxis=".5 0 1">
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<geom type="capsule" size=".1 .1" group="1" condim="1"/>
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</body>
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<geom name="+x" class="wall" zaxis="1 0 0" pos="-.5 0 -.25"/>
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<geom name="-x" class="wall" zaxis="-1 0 0" pos=".5 0 -.25"/>
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<geom name="+y" class="wall" zaxis="0 1 0" pos="0 -.5 -.25"/>
|
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<geom name="-y" class="wall" zaxis="0 -1 0" pos="0 .5 -.25"/>
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||||
<composite type="particle" count="8 8 8" spacing="0.07" offset="0 0 1">
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<geom size=".025" rgba=".8 .2 .1 1" group="4"/>
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<skin inflate="0" rgba="0 .7 .7 .6"/>
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<plugin plugin="mujoco.elasticity.solid">
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<config key="poisson" value="0"/>
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||||
<config key="damping" value="0.001"/>
|
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<!--Units are in Pa (SI)-->
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<config key="young" value="5e4"/>
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</plugin>
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</composite>
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</worldbody>
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</mujoco>
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@@ -0,0 +1,72 @@
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<!-- Copyright 2021 DeepMind Technologies Limited
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|
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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>
|
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<plugin plugin="mujoco.elasticity.solid"/>
|
||||
</extension>
|
||||
|
||||
<compiler autolimits="true"/>
|
||||
|
||||
<option solver="Newton" tolerance="1e-6" timestep=".001"/>
|
||||
|
||||
<size memory="10M"/>
|
||||
|
||||
<visual>
|
||||
<map stiffness="100"/>
|
||||
</visual>
|
||||
|
||||
<worldbody>
|
||||
<composite prefix="A" type="particle" count="4 4 4" spacing="0.2" offset="0 0 .5">
|
||||
<geom size=".025" rgba=".8 .2 .1 1" group="4"
|
||||
condim="3" solref="0.01 1" solimp=".95 .99 .0001"/>
|
||||
<skin inflate="0" rgba="0 .7 .7 .6"/>
|
||||
<plugin plugin="mujoco.elasticity.solid">
|
||||
<config key="poisson" value="0.4"/>
|
||||
<config key="damping" value="0.001"/>
|
||||
<!--Units are in Pa (SI)-->
|
||||
<config key="young" value="1e4"/>
|
||||
</plugin>
|
||||
</composite>
|
||||
|
||||
<composite prefix="B" type="particle" count="4 4 4" spacing="0.2" offset="1 0 .5">
|
||||
<geom size=".025" rgba=".8 .2 .1 1" group="4"
|
||||
condim="3" solref="0.01 1" solimp=".95 .99 .0001"/>
|
||||
<skin inflate="0" rgba="0 .7 .7 .6"/>
|
||||
<plugin plugin="mujoco.elasticity.solid">
|
||||
<config key="poisson" value="0"/>
|
||||
<config key="damping" value="0.001"/>
|
||||
<!--Units are in Pa (SI)-->
|
||||
<config key="young" value="5e4"/>
|
||||
</plugin>
|
||||
</composite>
|
||||
|
||||
<body>
|
||||
<joint name="soft" type="slide" axis="0 0 1" damping="500"/>
|
||||
<geom type="box" size=".35 .35 0.05" pos=".1 .1 .8" 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 .8" 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>
|
||||
@@ -0,0 +1,41 @@
|
||||
<!-- 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>
|
||||
<compiler meshdir="asset" texturedir="asset"/>
|
||||
|
||||
<statistic meansize=".05"/>
|
||||
|
||||
<visual>
|
||||
<rgba haze="0.15 0.25 0.35 1"/>
|
||||
<quality shadowsize="4096"/>
|
||||
<map stiffness="700" shadowscale="0.5" fogstart="1" fogend="15" zfar="40" haze="1"/>
|
||||
</visual>
|
||||
|
||||
<asset>
|
||||
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
|
||||
<texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
|
||||
width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
|
||||
|
||||
<material name="matplane" reflectance="0.3" texture="texplane" texrepeat="10 10" texuniform="true"/>
|
||||
</asset>
|
||||
|
||||
<worldbody>
|
||||
<light diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 2.0" dir="0 0 -1" castshadow="false"/>
|
||||
<light directional="true" diffuse=".8 .8 .8" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
|
||||
|
||||
<geom name="ground" type="plane" size="0 0 1" pos="0 0 0" quat="1 0 0 0" material="matplane" condim="1"/>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
Reference in New Issue
Block a user