Alessio Quaglino
d933b195ee
This change adds a new passive force computation for flexes with elastic2d="bend" and dof="trilinear". The bending energy is based on the squared difference of normals between adjacent face elements at their shared edge midpoint. The edge data is precomputed during model compilation and stored in flex_bending. PiperOrigin-RevId: 910772638 Change-Id: I3b12c7b7f1ba6ac1875df495d89e8cfec921ca80
103 lines
3.7 KiB
XML
103 lines
3.7 KiB
XML
<!-- Copyright 2026 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>
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<include file="scene.xml"/>
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<option cone="elliptic" solver="CG" />
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<default>
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<default class="gripper">
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<geom type="box" size="0.02 0.15 0.02" rgba="0.5 0.5 0.5 1"
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solref="0.001 1" friction="2 0.1 0.1"/>
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<joint type="slide" axis="0 0 1" range="-1 1"/>
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<default class="finger">
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<geom size="0.01 0.06 0.03"/>
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<joint type="slide" range="0 0.1"/>
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</default>
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</default>
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</default>
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<worldbody>
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<body name="solid" pos=".32 0 .2">
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<flexcomp
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origin="0 0 0" count="8 2 12" cellcount="6 1 6"
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type="grid" name="soft_mesh" dim="3" spacing=".025 .05 .025"
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mass="0.43" radius="0.005" dof="trilinear" rgba="0.7 0.9 0.7 1">
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<edge equality="strain" solref="0.001 1"/>
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<contact selfcollide="none"
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internal="false"
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friction="2.0 0.5 0.01"
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solref="0.001 1"
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solimp="0.99 0.999 0.001"/>
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</flexcomp>
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</body>
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<body name="hollow" pos=".32 .45 .2">
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<flexcomp
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origin="0 0 0" count="8 2 12" cellcount="6 1 6"
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type="grid" name="soft_mesh_2" dim="3" spacing=".025 .05 .025"
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mass="0.43" radius="0.005" dof="trilinear" rgba="0.9 0.7 0.7 1">
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<elasticity young="1e5" poisson="0.3" damping="0" elastic2d="bend" thickness="0.03"/>
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<edge equality="strain" solref="0.001 1" solimp="0.99 0.999 0.001"/>
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<contact selfcollide="none"
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internal="false"
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friction="2.0 0.5 0.01"
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solref="0.001 1"
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solimp="0.99 0.999 0.001"/>
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</flexcomp>
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</body>
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<body name="gripper_solid" pos="0.2 0.45 0.2">
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<joint name="lift_solid" class="gripper"/>
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<geom class="gripper"/>
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<body name="left_finger_r" pos="0.05 -0.1 0" childclass="finger">
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<joint name="left_slide_r" axis="0 1 0"/>
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<geom rgba="0.8 0.2 0.2 1"/>
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</body>
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<body name="right_finger_r" pos="0.05 0.1 0" childclass="finger">
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<joint name="right_slide_r" axis="0 -1 0"/>
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<geom rgba="0.8 0.2 0.2 1"/>
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</body>
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</body>
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<body name="gripper_hollow" pos="0.2 0 0.2">
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<joint name="lift_hollow" class="gripper"/>
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<geom class="gripper"/>
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<body name="left_finger_s" pos="0.05 -0.1 0" childclass="finger">
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<joint name="left_slide_s" axis="0 1 0"/>
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<geom rgba="0.2 0.8 0.2 1"/>
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</body>
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<body name="right_finger_s" pos="0.05 0.1 0" childclass="finger">
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<joint name="right_slide_s" axis="0 -1 0"/>
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<geom rgba="0.2 0.8 0.2 1"/>
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</body>
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</body>
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</worldbody>
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<equality>
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<joint joint1="right_slide_r" joint2="left_slide_r"/>
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<joint joint1="right_slide_s" joint2="left_slide_s"/>
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</equality>
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<actuator>
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<position name="lift_r" joint="lift_solid" kp="400" dampratio="1" ctrlrange="-1 1"/>
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<position name="grasp_r" joint="left_slide_r" kp="10" dampratio="1" ctrlrange="0 5"/>
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<position name="lift_s" joint="lift_hollow" kp="400" dampratio="1" ctrlrange="-1 1"/>
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<position name="grasp_s" joint="left_slide_s" kp="10" dampratio="1" ctrlrange="0 5"/>
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</actuator>
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</mujoco>
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