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How to Preserve Initial Shape of a Flexible Body in MuJoCo Simulation? #1750

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gleitn96 opened this issue Jun 21, 2024 · 0 comments
Open

How to Preserve Initial Shape of a Flexible Body in MuJoCo Simulation? #1750

gleitn96 opened this issue Jun 21, 2024 · 0 comments
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@gleitn96
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Hi,

I'm a phd student and I'm trying to use MuJoCo for simulating a consignment with flexible packaging and rigid content.

I'm looking for some help with preserving the initial shape of a flexible body in my simulation.

My problem is that the flexible Packaging will not preserve its initial state and instead blows up like a balloon as shown in the attached picture. Is there a possibility to preserve the shape of the body until there is an outer force acting upon it, similar to how it's done in FEM?

image

Here is the XML for my issue:

<mesh name="Content" file="Content.stl" />
<material name="Content_material" rgba="0.8 0.6 0.4 1" />

<!-- Packaging -->
<flexcomp name="Packaging" type="mesh" radius="0.0002" dim="2" pos="0 0 0.2"
  file="Packaging.obj" scale="0.001 0.001 0.001" mass="0.01">
  <contact selfcollide="none" internal="false"/>
  <edge equality="false" damping="0.01" />
  <plugin plugin="mujoco.elasticity.shell">
    <config key="poisson" value="0.1" />
    <config key="thickness" value="0.001" />
    <config key="young" value="100e6" />       
  </plugin>
</flexcomp>

<!-- Content -->
<body name="Content" pos="0 0.01 0.138" >
  <geom type="mesh" mesh="Content" material="Content_material" condim="3" mass="0.2" />
  <joint type="free" damping="1" />
</body>

<!-- Lights -->
<light directional="true" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1"
  castshadow="false" />
<light directional="false" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 0 4" dir="0 0 -1" />

The full XML, the Packaging.obj, and Content.stl are in the attached .zip file.

Thank you for your help!

Consignment.zip
@gleitn96 gleitn96 added the question Request for help or information label Jun 21, 2024
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