Deformable solid plugin for particles.
Using coordinate-free formula equivalent to linear finite elements. PiperOrigin-RevId: 491317615 Change-Id: I096b9a56075bbb630f64bfffac8a8d66457e5e2d
This commit is contained in:
Alessio Quaglino
committed by
Copybara-Service
Copybara-Service
parent
062cb53a4a
commit
d0b1a97338
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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="Floppy">
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<include file="scene.xml"/>
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<extension>
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<required 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 nconmax="6000" njmax="6000" nstack="50000000"/>
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<visual>
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<map stiffness="100"/>
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</visual>
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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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<!-- 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="Jelly">
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<include file="scene.xml"/>
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<extension>
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<required 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 nconmax="6000" njmax="6000" nstack="50000000"/>
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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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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="Press">
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<include file="scene.xml"/>
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<extension>
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<required 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 nconmax="6000" njmax="6000" nstack="50000000"/>
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<visual>
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<map stiffness="100"/>
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</visual>
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<worldbody>
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<composite prefix="A" type="particle" count="4 4 4" spacing="0.2" offset="0 0 .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="0.4"/>
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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="1e4"/>
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</plugin>
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</composite>
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<composite prefix="B" type="particle" count="4 4 4" spacing="0.2" offset="1 0 .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"/>
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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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<body>
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<joint name="soft" type="slide" axis="0 0 1" damping="500"/>
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<geom type="box" size=".35 .35 0.05" pos=".1 .1 .8" density="300"/>
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</body>
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<body>
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<joint name="stiff" type="slide" axis="0 0 1" damping="500"/>
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<geom type="box" size=".35 .35 0.05" pos="1.1 .1 .8" density="300"/>
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</body>
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</worldbody>
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<actuator>
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<motor name="soft" joint="soft" gear="-1 0 0 0 0 0" ctrlrange="-150 300"/>
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<motor name="stiff" joint="stiff" gear="-1 0 0 0 0 0" ctrlrange="-150 1600"/>
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</actuator>
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</mujoco>
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