Alessio Quaglino
7cdf180641
These flexes use only 24 DOFs (3 per vertex of the bounding box), while colliding with the full high resolution mesh. On an 8x8x8 cube, the performance using DOFs at all vertices is ``` Simulation time : 18.74 s Steps per second : 533 Realtime factor : 0.53 x Time per step : 1874.4 µs Contacts per step : 114.88 Constraints per step : 3322.51 Degrees of freedom : 1536 ``` With the new implementation, it is the following: ``` Simulation time : 1.82 s Steps per second : 5507 Realtime factor : 5.51 x Time per step : 181.6 µs Contacts per step : 38.84 Constraints per step : 155.36 Degrees of freedom : 24 ``` PiperOrigin-RevId: 721008829 Change-Id: I833df027527db578d86667cc4b24295bcf6f7d22
37 lines
1.2 KiB
XML
37 lines
1.2 KiB
XML
<!-- Copyright 2024 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="Full-flex sphere">
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<include file="scene.xml"/>
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<option solver="CG" tolerance="1e-6" timestep=".001" integrator="implicitfast"/>
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<size memory="10M"/>
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<visual>
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<map stiffness="500"/>
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</visual>
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<worldbody>
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<geom type="box" pos="1.5 0 0.25" size=".5 2 .25"/>
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<geom type="box" pos="0 0 0.25" size="2 2 .05" euler="0 15 0"/>
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<flexcomp type="ellipsoid" count="8 8 8" spacing=".07 .07 .07" pos="-.5 0 1" dim="3"
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radius=".001" rgba="0 .7 .7 1" mass="5" name="slow">
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<edge equality="true"/>
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<contact selfcollide="none" internal="false"/>
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</flexcomp>
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</worldbody>
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</mujoco>
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