FlexComp use existing mesh #2576
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IntroHi! I am a graduate student at TUM, I use MuJoCo for my Master's Thesis. My setupMuJoCo 3.3.0, GUI, x86, OpenSUSE 15 My questionI had created a model on OnShape CAD and exported the model as STL, then I have written flexcomp, mesh.. to import the model. What should I do? Thanks in advance. Minimal model and/or code that explain my questionIf you encountered the issue in a complex model, please simplify it as much as possible (while still reproducing the issue). Model: minimal XML<mujoco>
<worldbody>
<body name="base">
<flexcomp name="trial" type="mesh" file="try.stl" radius="0.001" xyaxes="1 0 0 0 0 1">
<elasticity young="5e4" damping="0.002" poisson="0.2"/>
</flexcomp>
</body>
</worldbody>
</mujoco>
Confirmations
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Replies: 1 comment 5 replies
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Have you tried reducing the time step or the young modulus? |
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I have tried but not worked, the unpinned corners fall like a rocket with gravity. If I deactivate gravity, it starts and waits, if I try ctrl+shift+right to manipulate the soft object, it gives the same error. I have attached all files as zip. I would be reallty glad if you can figure out what the problem is. |
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@quagla could you please find out what the problem is? |
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You are in 2D, so you have to set |
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Is the only way to pass 3-D from a CAD is to generate gmsh, isn't it? Because I wanted to work with a 3-D object from file. |
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if you want the slow but accurate soft body, then yes. Otherwise you can use the new |
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You are in 2D, so you have to set
thicknessas well inelasticityin order to compute the actual stiffness of the material. The default value is -1, which causes the simulation to be unstable.