Alessio Quaglino
b9c1877ecb
Modify EigendecomposeStiffness to project out rigid body translations and rotations from the stiffness matrix eigenvectors. This prevents "ghost damping" from rigid body modes being incorrectly constrained. Update hollow_vs_solid.xml with solimp parameters for edge constraints. Adjust engine_core_constraint_test.cc to reflect the reduced number of equality constraints due to the projection. PiperOrigin-RevId: 910631207 Change-Id: Ibaaa59bc030cfc6ae657d8f0d1b2a51002cc8d4e
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="0" poisson="0.3" damping="0.01" 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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