Alessio Quaglino
643c1248b8
When equality constraints and built-in passive forces are not present, edge Jacobians are unused. This gives a 3x speedup in `mj_kinematics` in `floppy_flex` (from 0.2ms/step to 0.06ms/step). Changed the default options of `floppy_flex` to match those of `floppy` for a fair comparison. PiperOrigin-RevId: 575850622 Change-Id: I4c618536fd17ef930153bbd1f1da7d9e0e44abbe
55 lines
1.7 KiB
XML
55 lines
1.7 KiB
XML
<!-- 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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<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" integrator="Euler"/>
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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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<worldbody>
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<flexcomp type="grid" count="24 4 4" spacing=".1 .1 .1" pos=".1 0 1.5"
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radius=".0" rgba="0 .7 .7 1" name="softbody" dim="3" mass="7">
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<contact condim="3" solref="0.01 1" solimp=".95 .99 .0001" selfcollide="none"/>
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<plugin plugin="mujoco.elasticity.solid">
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<config key="poisson" value="0.2"/>
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<!--Units are in Pa (SI)-->
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<config key="young" value="5e4"/>
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<config key="damping" value="0.002"/>
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</plugin>
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</flexcomp>
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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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