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elastoplastic extension #560

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elastoplastic extension #560

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e3c6331
elastoplastic extension
mathl79 Nov 3, 2022
ca21db1
exponential strain hardening model implemented
mathl79 Nov 8, 2022
0786aa0
Merge branch 'deepmind:main' into mujoco_elastoplastic
mathl79 Nov 8, 2022
ed50400
Merge branch 'deepmind:main' into mujoco_elastoplastic
mathl79 Nov 15, 2022
836a12f
hysteresis plasticity
mathl79 Nov 30, 2022
5735248
Merge branch 'mujoco_elastoplastic' of https://github.com/mathl79/muj…
mathl79 Nov 30, 2022
51aa954
Merge branch 'main' into mujoco_elastoplastic
quagla Nov 30, 2022
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1 change: 1 addition & 0 deletions include/mujoco/mjrender.h
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Original file line number Diff line number Diff line change
Expand Up @@ -131,6 +131,7 @@ struct mjrContext_ { // custom OpenGL context
int nskin; // number of skins
unsigned int* skinvertVBO; // skin vertex position VBOs (nskin)
unsigned int* skinnormalVBO; // skin vertex normal VBOs (nskin)
unsigned int* skincolorVBO; // skin vertex color VBOs (nskin)
unsigned int* skintexcoordVBO; // skin vertex texture coordinate VBOs (nskin)
unsigned int* skinfaceVBO; // skin face index VBOs (nskin)

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1 change: 1 addition & 0 deletions include/mujoco/mjvisualize.h
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Expand Up @@ -281,6 +281,7 @@ struct mjvScene_ { // abstract scene passed to OpenGL renderer
int* skinvertnum; // number of vertices in skin (nskin)
float* skinvert; // skin vertex data (nskin)
float* skinnormal; // skin normal data (nskin)
float* skinuserdata; // skin vertex scalar userdata (nskin) eg. for colorcoded visualisaton. normalized [0.0,..,1.0]

// OpenGL lights
int nlight; // number of lights currently in buffer
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20 changes: 12 additions & 8 deletions model/plugin/belt.xml
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Expand Up @@ -57,20 +57,24 @@
1.0 0. 0. ">
<plugin plugin="mujoco.elasticity.cable">
<!--Units are in Pa (SI)-->
<config key="twist" value="1e8"/>
<config key="bend" value="1e7"/>
<config key="twist" value="1e10"/>
<config key="bend" value="2.5e10"/>
<config key="yieldstress" value="10e7"/>
<config key="ultimatestress" value="2e8"/>
<config key="ultimatestrain" value="0.12"/>
</plugin>
<joint kind="main" damping="0.1"/>
<geom type="box" size="0.03535533906 0.02 0.0015" rgba=".8 .2 .1 1" group="3"/>
<skin subgrid="3"/>
<joint kind="main" damping="10"/>
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If I load this model, it immediately explodes.

<geom type="box" size="0.03535533906 0.02 0.0055" rgba=".8 .2 .1 1" group="3" density="1000"/>
<skin subgrid="2"/>
</composite>
</worldbody>

<!--
<equality>
<connect name="right_boundary" body1="B_last" anchor="0.07 0 0"/>
<connect name="right_boundary" body1="B_last" anchor="0.07 0 0"/>
</equality>

-->
<actuator>
<motor site="S_last" gear="0 0 0 1 0 0" ctrlrange="-.2 .2"/>
<motor site="S_last" gear="0 0 0 1 0 0" ctrlrange="-2 2"/>
</actuator>
</mujoco>
2 changes: 1 addition & 1 deletion model/plugin/cable.xml
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Expand Up @@ -36,7 +36,7 @@
<config key="twist" value="1e7"/>
<config key="bend" value="4e6"/>
</plugin>
<joint kind="main" damping=".015"/>
<joint kind="main" damping="0.15"/>
<geom type="capsule" size=".005" rgba=".8 .2 .1 1" condim="1"/>
</composite>
<body name="slider" pos=".7 0 .6">
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20 changes: 13 additions & 7 deletions model/plugin/coil.xml
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Expand Up @@ -68,20 +68,26 @@
0.1 -0. 0.25132741">
<plugin plugin="mujoco.elasticity.cable">
<!--Units are in Pa (SI)-->
<config key="twist" value="5e8"/>
<config key="bend" value="15e8"/>
<config key="twist" value="1e10"/>
<config key="bend" value="2.5e10"/>
<config key="yieldstress" value="10e7"/>
<config key="ultimatestress" value="2e8"/>
<config key="ultimatestrain" value="0.12"/>
</plugin>
<joint kind="main" damping="0.12" armature="0.01"/>
<joint kind="main" damping="1" armature="0.01"/>
<geom type="capsule" size=".005" rgba=".8 .2 .1 1"/>
</composite>
<composite prefix="actuated" type="cable" curve="cos(s) sin(s) s" count="41 1 1"
size="0.251327412 .1 4" offset="0.25 0 .05" initial="fixed">
<plugin plugin="mujoco.elasticity.cable">
<!--Units are in Pa (SI)-->
<config key="twist" value="5e8"/>
<config key="bend" value="15e8"/>
<config key="twist" value="1e10"/>
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When I pull the second spring, at some point it looks like the simulation blows up.

<config key="bend" value="2.5e10"/>
<config key="yieldstress" value="10e7"/>
<config key="ultimatestress" value="2e8"/>
<config key="ultimatestrain" value="0.12"/>
</plugin>
<joint kind="main" damping="0.1" armature="0.01"/>
<joint kind="main" damping="1" armature="0.01"/>
<geom type="capsule" size=".005" rgba=".8 .2 .1 1"/>
</composite>
<body name="slider" pos="0.35 0 0.301327412">
Expand All @@ -99,6 +105,6 @@
</contact>

<actuator>
<position joint="slide" name="extend" gear="1 0 0 0 0 0" ctrlrange="-.25 1" kp="100"/>
<position joint="slide" name="extend" gear="1 0 0 0 0 0" ctrlrange="-1 4" kp="100"/>
</actuator>
</mujoco>
38 changes: 38 additions & 0 deletions model/plugin/elastoplastic_test.xml
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@@ -0,0 +1,38 @@
<mujoco>
<option gravity="0 0 0"/>
<option timestep="0.001" o_solref="-1e8 -1e4" o_solimp="0.8 0.99 0.02 0.1 6">
<flag
gravity="disable"
override="enable"
/>
</option>
<extension>
<required plugin="mujoco.elasticity.cable"/>
</extension>
<worldbody>

<geom type="plane" size="0 0 1" quat="1 0 0 0"/>
<site name="reference" pos="0 0 0"/>
<composite type="cable" curve="s" count="81 1 1" size="1" offset="0 0 1" initial="none">
<plugin plugin="mujoco.elasticity.cable">
<config key="twist" value="1e10"/>
<config key="bend" value="2.5e10"/>
<config key="yieldstress" value="5e7"/>
<config key="ultimatestress" value="2e8"/>
<config key="ultimatestrain" value="0.12"/>

</plugin>
<joint kind="main" damping="2"/>
<geom type="capsule" size=".004" density="1000"/>
</composite>
</worldbody>
<contact>
<exclude body1="B_first" body2="B_last"/>
</contact>
<sensor>
<framepos objtype="site" objname="S_last"/>
</sensor>
<actuator>
<motor site="S_last" gear="0 0 0 0 1 0" ctrllimited="true" ctrlrange="-10 10"/>
</actuator>
</mujoco>
21 changes: 21 additions & 0 deletions plugin/elasticity/CMakeLists.txt
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Expand Up @@ -12,6 +12,8 @@
# See the License for the specific language governing permissions and
# limitations under the License.

#include (GenerateExportHeader)

set(MUJOCO_ELASTICITY_INCLUDE
${CMAKE_CURRENT_SOURCE_DIR}/../..
${CMAKE_CURRENT_SOURCE_DIR}/../../src
Expand All @@ -25,20 +27,39 @@ set(MUJOCO_ELASTICITY_SRCS
solid.h
)

if (WIN32)
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/bin/plugin/ ) #change output directory of plugin to be found by simulate.exe
#set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib/ ) #change output directory of static plugin to be at the right place at debug time
set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON) #export also .lib along the .dll for static linking
set(BUILD_SHARED_LIBS TRUE)

#add_library(elasticity SHARED ${MUJOCO_ELASTICITY_SRCS})

#target_sources(mujoco PRIVATE ${MUJOCO_ELASTICITY_SRCS})

#add_link_options("LINKER:-v")

endif()

add_library(elasticity SHARED)
target_sources(elasticity PRIVATE ${MUJOCO_ELASTICITY_SRCS})
target_include_directories(elasticity PRIVATE ${MUJOCO_ELASTICITY_INCLUDE})
target_link_libraries(elasticity PRIVATE mujoco)


target_compile_options(
elasticity
PRIVATE ${AVX_COMPILE_OPTIONS}
${MUJOCO_MACOS_COMPILE_OPTIONS}
${EXTRA_COMPILE_OPTIONS}
${MUJOCO_CXX_FLAGS}
)

target_link_options(
elasticity
PRIVATE
${MUJOCO_MACOS_LINK_OPTIONS}
${EXTRA_LINK_OPTIONS}
)


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