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Add passive collision mode for flexes.
PiperOrigin-RevId: 801754907 Change-Id: I4147af2ee2596519d42cb9a03cf8d5488f0bc3e8
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‎doc/XMLreference.rst‎

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@@ -3735,6 +3735,7 @@ saving the XML:
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.. _flexcomp-contact-solimp:
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.. _flexcomp-contact-margin:
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.. _flexcomp-contact-gap:
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.. _flexcomp-contact-passive:
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.. |body/flexcomp/contact attrib list| replace::
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:at:`internal`, :at:`selfcollide`, :at:`vertcollide`, :at:`activelayers`, :at:`contype`, :at:`conaffinity`,
@@ -4298,6 +4299,13 @@ extensions specific to flexes.
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|deformable/flex/contact attrib list|
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Same meaning as regular :ref:`geom <body-geom>` attributes.
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.. _flex-contact-passive:
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:at:`passive`: :at-val:`[true, false], "false"`
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When enabled, the contact is not added to the contact solver but it is instead used to compute passive
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(spring-damper) contact forces. All contacts, regardless of the specified condim, are frictionless (condim 1). This
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is an experimental feature and might change in future releases.
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.. _deformable-skin:
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‎doc/XMLschema.rst‎

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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`margin<flexcomp-contact-margin>` | :ref:`gap<flexcomp-contact-gap>` | :ref:`internal<flexcomp-contact-internal>` | :ref:`selfcollide<flexcomp-contact-selfcollide>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`activelayers<flexcomp-contact-activelayers>` | :ref:`vertcollide<flexcomp-contact-vertcollide>` | | | |
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| | | | :ref:`activelayers<flexcomp-contact-activelayers>` | :ref:`vertcollide<flexcomp-contact-vertcollide>` | :ref:`passive<flexcomp-contact-passive>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_2| flexcomp |br| |_2| |L| | | .. table:: |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`margin<flex-contact-margin>` | :ref:`gap<flex-contact-gap>` | :ref:`internal<flex-contact-internal>` | :ref:`selfcollide<flex-contact-selfcollide>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`activelayers<flex-contact-activelayers>` | :ref:`vertcollide<flex-contact-vertcollide>` | | | |
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| | | | :ref:`activelayers<flex-contact-activelayers>` | :ref:`vertcollide<flex-contact-vertcollide>` | :ref:`passive<flex-contact-passive>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_2| flex |br| |_2| |L| | | .. table:: |

‎doc/changelog.rst‎

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- Added support for shells with a curved reference configuration. See this `example
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<https://github.com/google-deepmind/mujoco/blob/main/model/flex/basket.xml>`__.
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- Added experimental option for :ref:`passive<flex-contact-passive>` contacts involving flexes.
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- Added support for assigning a default material to a mesh asset using the :ref:`mesh/material <asset-mesh-material>`
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attribute.

‎doc/includes/references.h‎

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@@ -123,7 +123,7 @@ struct mjContact_ { // result of collision detection functions
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int vert[2]; // vertex ids; -1 for geom or flex element
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// flag set by mj_setContact or mj_instantiateContact
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int exclude; // 0: include, 1: in gap, 2: fused, 3: no dofs
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int exclude; // 0: include, 1: in gap, 2: fused, 3: no dofs, 4: passive
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// address computed by mj_instantiateContact
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int efc_address; // address in efc; -1: not included
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mjtByte* flex_internal; // internal flex collision enabled (nflex x 1)
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int* flex_selfcollide; // self collision mode (mjtFlexSelf) (nflex x 1)
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int* flex_activelayers; // number of active element layers, 3D only (nflex x 1)
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int* flex_passive; // passive collisions enabled (nflex x 1)
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// flexes: other properties
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int* flex_dim; // 1: lines, 2: triangles, 3: tetrahedra (nflex x 1)
@@ -2104,6 +2105,7 @@ typedef struct mjsFlex_ { // flex specification
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mjtByte flatskin; // render flex skin with flat shading
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int selfcollide; // mode for flex self collision
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int vertcollide; // mode for vertex collision
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int passive; // mode for passive collisions
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int activelayers; // number of active element layers in 3D
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int group; // group for visualizatioh
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double edgestiffness; // edge stiffness

‎include/mujoco/mjdata.h‎

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@@ -143,7 +143,7 @@ struct mjContact_ { // result of collision detection functions
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int vert[2]; // vertex ids; -1 for geom or flex element
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// flag set by mj_setContact or mj_instantiateContact
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int exclude; // 0: include, 1: in gap, 2: fused, 3: no dofs
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int exclude; // 0: include, 1: in gap, 2: fused, 3: no dofs, 4: passive
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// address computed by mj_instantiateContact
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int efc_address; // address in efc; -1: not included

‎include/mujoco/mjmodel.h‎

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mjtByte* flex_internal; // internal flex collision enabled (nflex x 1)
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int* flex_selfcollide; // self collision mode (mjtFlexSelf) (nflex x 1)
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int* flex_activelayers; // number of active element layers, 3D only (nflex x 1)
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int* flex_passive; // passive collisions enabled (nflex x 1)
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// flexes: other properties
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int* flex_dim; // 1: lines, 2: triangles, 3: tetrahedra (nflex x 1)

‎include/mujoco/mjspec.h‎

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@@ -437,6 +437,7 @@ typedef struct mjsFlex_ { // flex specification
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mjtByte flatskin; // render flex skin with flat shading
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int selfcollide; // mode for flex self collision
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int vertcollide; // mode for vertex collision
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int passive; // mode for passive collisions
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int activelayers; // number of active element layers in 3D
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int group; // group for visualizatioh
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double edgestiffness; // edge stiffness

‎include/mujoco/mjxmacro.h‎

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X ( mjtByte, flex_internal, nflex, 1 ) \
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X ( int, flex_selfcollide, nflex, 1 ) \
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X ( int, flex_activelayers, nflex, 1 ) \
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X ( int, flex_passive, nflex, 1 ) \
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X ( int, flex_dim, nflex, 1 ) \
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X ( int, flex_matid, nflex, 1 ) \
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X ( int, flex_group, nflex, 1 ) \

‎mjx/mujoco/mjx/_src/types.py‎

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flex_internal: jax.Array
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flex_selfcollide: jax.Array
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flex_activelayers: jax.Array
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flex_passive: jax.Array
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flex_dim: jax.Array
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flex_vertadr: jax.Array
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flex_vertnum: jax.Array

‎model/flex/sphere_passive.xml‎

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<!-- 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="Full-flex sphere">
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<include file="scene.xml"/>
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<option solver="CG" tolerance="1e-6" timestep=".001" integrator="implicitfast"/>
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<size memory="10M"/>
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<visual>
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<map stiffness="500"/>
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</visual>
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<worldbody>
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<geom type="box" pos="1.5 0 0.25" size=".5 2 .25"/>
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<geom type="box" pos="0 0 0.25" size="2 2 .05" euler="0 15 0"/>
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<flexcomp type="ellipsoid" count="8 8 8" spacing=".07 .07 .07" pos="-.5 0 1" dim="3"
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radius=".001" rgba="0 .7 .7 1" mass="5" name="slow">
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<edge equality="true"/>
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<contact selfcollide="none" internal="false" passive="true"/>
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</flexcomp>
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</worldbody>
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</mujoco>

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