Multiple 1D flex objects act strangely #1264
Description
When adding a second 1D rope to a scene, the two rope acts strangely in comparison to C MuJoCo
C Mujoco:
https://github.com/user-attachments/assets/ca9c21f1-5304-4a96-8982-5aaf2bfcdb82
Mjwarp Viewer:
https://github.com/user-attachments/assets/7508e777-6a9c-46ef-a00c-8ff9c54e13a6
This might extend to other flex types as well but is easiest to visualize in 1D flex. It seems the constraints from one flex are bleeding into the other flex?
Here is the XML:
<mujoco model="rope">
<option solver="CG" tolerance="1e-6" timestep=".001"/>
<visual>
<rgba haze="0.15 0.25 0.35 1"/>
<quality shadowsize="4096"/>
<map stiffness="700" shadowscale="0.5" fogstart="1" fogend="15" zfar="40" haze="1"/>
</visual>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
<texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
width="512" height="512"/>
<material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
</asset>
<worldbody>
<light diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 2.0" dir="0 0 -1" castshadow="false"/>
<light directional="true" diffuse=".8 .8 .8" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
<geom name="ground" type="plane" size="0 0 1" pos="0 0 0" quat="1 0 0 0" material="matplane" condim="1"/>
<camera pos="0 -4 2" euler="70 0 0 "/>
<body name="flexes" pos=".1 -.2 1.5">
<flexcomp type="grid" count="12 1 1" spacing=".1 .1 .1" pos="-0.5 0 0"
radius=".03" rgba="0 .7 .7 1" name="rope" dim="1" mass="1">
<edge equality="true"/>
<contact condim="3" selfcollide="none" conaffinity="0" contype="0"/>
<pin id="0"/>
</flexcomp>
<flexcomp type="grid" count="12 1 1" spacing=".1 .1 .1" pos="0.5 0 0"
radius=".03" rgba="0 .7 .7 1" name="rope2" dim="1" mass="1">
<edge equality="true"/>
<contact condim="3" selfcollide="none" conaffinity="0" contype="0"/>
<pin id="0"/>
</flexcomp>
</body>
</worldbody>
</mujoco>
Metadata
Metadata
Assignees
Labels
No labels