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Merge pull request #3466 from smallquail:flex-implicit-contact

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PiperOrigin-RevId: 960804180
Change-Id: Ic3eb203ca0d9cf19c9043b46127db342678d94f9
This commit is contained in:
Copybara-Service
2026-08-07 02:36:26 -07:00
parent dca295dde2 2a3554c8a3
commit e144090273
12 changed files with 425 additions and 61 deletions
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model/flex/drape.xml
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<!-- Copyright 2026 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="Drape">
<include file="scene.xml"/>
<!-- Three cloths dropped over a sphere. All contacts are passive (cloth-cloth, self, and
cloth-vs-static sphere) with stiffness carried implicitly by the effective metric. -->
<!-- The metric solve for qacc_smooth is iterative and its blocks do not see the vertex-to-vertex
coupling that contact introduces, so a contact-rich scene like this one needs a larger
iteration budget than the default to converge it. -->
<option timestep="0.002" solver="CG" tolerance="1e-6" iterations="400" integrator="implicitfast"/>
<size memory="50M"/>
<worldbody>
<geom name="ball" type="sphere" size=".3" pos="0 0 .3" rgba=".45 .45 .5 1"/>
<flexcomp type="grid" count="13 13 1" spacing=".055 .055 .055" pos="0 0 .68"
radius=".004" mass=".25" name="cloth1" dim="2" rgba=".85 .35 .25 1">
<contact selfcollide="auto" passive="true" solref="0.01 1" solimp=".95 .99 .0001"/>
<elasticity young="2e4" poisson=".2" thickness="1e-3" elastic2d="both" damping="1e-2"/>
</flexcomp>
<flexcomp type="grid" count="13 13 1" spacing=".055 .055 .055" pos=".06 -.04 .78"
radius=".004" mass=".25" name="cloth2" dim="2" rgba=".25 .55 .8 1">
<contact selfcollide="auto" passive="true" solref="0.01 1" solimp=".95 .99 .0001"/>
<elasticity young="2e4" poisson=".2" thickness="1e-3" elastic2d="both" damping="1e-2"/>
</flexcomp>
<flexcomp type="grid" count="13 13 1" spacing=".055 .055 .055" pos="-.05 .05 .88"
radius=".004" mass=".25" name="cloth3" dim="2" rgba=".95 .8 .3 1">
<contact selfcollide="auto" passive="true" solref="0.01 1" solimp=".95 .99 .0001"/>
<elasticity young="2e4" poisson=".2" thickness="1e-3" elastic2d="both" damping="1e-2"/>
</flexcomp>
</worldbody>
</mujoco>
model/flex/sphere_passive.xml
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<!-- Copyright 2024 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="Full-flex sphere">
<include file="scene.xml"/>
<option solver="CG" tolerance="1e-6" timestep=".001" integrator="implicitfast"/>
<size memory="10M"/>
<visual>
<map stiffness="500"/>
</visual>
<worldbody>
<geom type="box" pos="1.5 0 0.25" size=".5 2 .25"/>
<geom type="box" pos="0 0 0.25" size="2 2 .05" euler="0 15 0"/>
<flexcomp type="ellipsoid" count="8 8 8" spacing=".07 .07 .07" pos="-.5 0 1" dim="3"
radius=".001" rgba="0 .7 .7 1" mass="5" name="slow">
<edge equality="true"/>
<contact selfcollide="none" internal="false" passive="true"/>
</flexcomp>
</worldbody>
</mujoco>