Alessio Quaglino
6c7ed66781
This change introduces a `flex_cellcount` field to `mjModel` to specify the number of cells in each dimension for interpolated flexes. The stiffness computation, passive force calculation, and Jacobian derivatives are updated to operate on a per-cell basis, significantly improving performance by localizing computations to the nodes within each cell. PiperOrigin-RevId: 901216393 Change-Id: Ic23132e609de11e71bb7fef8d1f139daad2ec264
43 lines
1.4 KiB
XML
43 lines
1.4 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="Trilinear">
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<include file="scene.xml"/>
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<option solver="CG" tolerance="1e-6" timestep=".001" integrator="Euler"/>
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<size memory="100M"/>
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<visual>
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<map stiffness="100"/>
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</visual>
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<worldbody>
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<body>
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<joint name="press" type="slide" axis="0 0 1" damping="500"/>
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<geom type="box" size=".02 .2 .2" pos="0 0 .5"/>
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</body>
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<flexcomp type="mesh" file="bunny.obj" pos="0 0 0" dim="2" euler="90 0 0" cellcount="3 3 3"
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radius=".001" rgba="0 .7 .7 1" mass=".05" name="softbody" dof="trilinear">
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<elasticity young="1e3" poisson="0.1" damping="0.01" elastic2d="stretch"/>
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<contact selfcollide="none" internal="false"/>
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</flexcomp>
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</worldbody>
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<actuator>
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<position name="press" joint="press" gear="-1 0 0 0 0 0" ctrlrange="-1 1" kp="1000"/>
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</actuator>
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</mujoco>
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