Alessio Quaglino
9c6a4f76eb
When elastic2d="stretch" is set on an interpolated flexcomp, treat the bounding box boundary as membrane elements rather than volumetric cells. This computes plane-stress stiffness over the boundary faces and updates the runtime force/derivative kernels accordingly. Interior vertex tracking (moving vertices that follow the deforming shell) is not yet implemented so all mesh vertices need to be on the bounding box surface or the background grid should have no interior nodes (i.e. cellcount should be 1 on at least one axis). PiperOrigin-RevId: 907654080 Change-Id: I51b90e2f6a1d1b036f9604e42de20e377dc5d3f9
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="0.06 0.01 0.05"/>
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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"/>
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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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