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Add flex self-collisions #1262

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3e41157
add flex self-collisions
quagla Mar 27, 2026
c683459
Merge branch 'main' into main
quagla Mar 27, 2026
bb2bb72
ruff
quagla Mar 27, 2026
405a3d3
manual rebase
quagla Mar 27, 2026
94319e3
ruff
quagla Mar 27, 2026
0a2605f
unused import
quagla Mar 27, 2026
a421dc3
kernel
quagla Mar 27, 2026
6a3bbc1
Merge branch 'google-deepmind:main' into main
quagla Mar 27, 2026
ba07307
rebase smooth.py manually
quagla Mar 27, 2026
a4ea2b8
rebase types.py manually
quagla Mar 27, 2026
2f10c13
kernel
quagla Mar 27, 2026
3193228
fix array order
quagla Mar 27, 2026
10ad4a2
Merge branch 'google-deepmind:main' into main
quagla Mar 30, 2026
585b4d8
fix tests
quagla Mar 30, 2026
8e12988
ruff
quagla Mar 30, 2026
6bb9667
only count flex with dim=2 for self-collisions
quagla Mar 30, 2026
888f74e
add flex_self_max_pairs
quagla Mar 30, 2026
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11 changes: 6 additions & 5 deletions benchmarks/cloth/scene.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,7 @@

<mujoco model="Poncho">
<include file="mannequin.xml"/>
<option solver="CG" tolerance="1e-6" jacobian="sparse"/>
<option integrator="Euler" solver="CG" viscosity="0.05" tolerance="1e-6"/>
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@thowell thowell Mar 31, 2026

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do we need to include 'integrator="Euler"' since this is the default integrator option?

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@thowell thowell Mar 31, 2026

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do we expect the viscosity option to be changed/removed in the future? if so, maybe we add a todo to update this parameter


<visual>
<map force="0.1" zfar="30"/>
Expand All @@ -31,10 +31,11 @@
<worldbody>
<light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1"/>

<flexcomp name="towel" type="grid" count="30 30 1" spacing="0.05 0.05 0.05"
radius="0.02" dim="2" rgba="1 0.5 0.5 1" pos="0 0 2" mass=".1">
<edge equality="true"/>
<elasticity young="3e3" poisson="0" thickness="1e-2" damping="1e-3" elastic2d="bend"/>
<flexcomp name="towel" type="grid" count="30 30 1" spacing="0.06 0.06 0.06"
radius="0.01" dim="2" rgba="1 0.5 0.5 1" pos="0 0 2" mass="1">
<edge equality="true" damping="0.1"/>
<elasticity young="3e5" poisson="0" thickness="8e-3" elastic2d="bend"/>
<contact selfcollide="narrow"/>
</flexcomp>

</worldbody>
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6 changes: 5 additions & 1 deletion mujoco_warp/_src/collision_driver_test.py
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Expand Up @@ -30,6 +30,7 @@
from mujoco_warp._src.collision_driver import MJ_COLLISION_TABLE
from mujoco_warp._src.collision_primitive import plane_convex
from mujoco_warp._src.math import upper_trid_index
from mujoco_warp._src.util_pkg import check_version
from mujoco_warp.test_data.collision_sdf.utils import register_sdf_plugins

_TOLERANCE = 5e-5
Expand Down Expand Up @@ -572,7 +573,10 @@ def test_collision(self, fixture):
break
np.testing.assert_equal(result, True, f"Contact {i} not found in Gjk results")

self.assertEqual(d.nacon.numpy()[0], mjd.ncon)
if check_version("mujoco>=3.5.1.dev888028695"):
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@thowell thowell Mar 31, 2026

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i think these changes are also available in #1263

self.assertGreaterEqual(d.nacon.numpy()[0], mjd.ncon)
else:
self.assertEqual(d.nacon.numpy()[0], mjd.ncon)

_HFIELD_FIXTURES = {
"hfield_box": """
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