Alessio Quaglino
8ca51b5318
Increased tolerance above zero in nutbolt.xml since now the two parts lock otherwise. Measured speedup of 2x in this example. This solves the issue of scale-dependent step sizes. Tested on gears with 10cm diameter and 2cm thickness. PiperOrigin-RevId: 584009449 Change-Id: Ied2f62dbbbc592470b91cf910f3553802a57c752
57 lines
1.3 KiB
XML
57 lines
1.3 KiB
XML
|
|
<mujoco>
|
|
<extension>
|
|
<plugin plugin="mujoco.sdf.nut">
|
|
<instance name="nut">
|
|
<config key="radius" value="0.26"/>
|
|
</instance>
|
|
</plugin>
|
|
<plugin plugin="mujoco.sdf.bolt">
|
|
<instance name="bolt">
|
|
<config key="radius" value="0.255"/>
|
|
</instance>
|
|
</plugin>
|
|
</extension>
|
|
|
|
<compiler autolimits="true"/>
|
|
|
|
<include file="scene.xml"/>
|
|
|
|
<visual>
|
|
<map force="0.05"/>
|
|
</visual>
|
|
|
|
<asset>
|
|
<mesh name="nut">
|
|
<plugin instance="nut"/>
|
|
</mesh>
|
|
<mesh name="bolt">
|
|
<plugin instance="bolt"/>
|
|
</mesh>
|
|
</asset>
|
|
|
|
<option sdf_iterations="10" sdf_initpoints="20"/>
|
|
|
|
<default>
|
|
<geom solref="0.01 1" solimp=".95 .99 .0001" friction="0.01"/>
|
|
</default>
|
|
|
|
<statistic meansize=".1"/>
|
|
|
|
<worldbody>
|
|
<body pos="-0.0012496 0.00329058 0.830362" quat="-0.000212626 0.999996 -0.00200453 0.00185878">
|
|
<joint type="free" damping="30"/>
|
|
<geom type="sdf" name="nut" mesh="nut" rgba="0.83 0.68 0.4 1">
|
|
<plugin instance="nut"/>
|
|
</geom>
|
|
</body>
|
|
<body euler="180 0 0">
|
|
<geom type="sdf" name="bolt" mesh="bolt" rgba="0.7 0.7 0.7 1">
|
|
<plugin instance="bolt"/>
|
|
</geom>
|
|
</body>
|
|
<light name="left" pos="-1 0 2" cutoff="80"/>
|
|
<light name="right" pos="1 0 2" cutoff="80"/>
|
|
</worldbody>
|
|
</mujoco>
|