search

google-deepmind / mujoco

Multi-Joint dynamics with Contact. A general purpose physics simulator.
https://mujoco.org
Apache License 2.0
8.21k stars 819 forks source link

Is there any way to create a composite model from import obj/stl file? #674

Closed KunZHANG1994 closed 1 year ago

KunZHANG1994 commented 1 year ago

I would like to import an existing obj file as soft model. I have tried the composite model, but not work. I would like to know is there any way to create a composite model from import .obj/.stl file? Does current version of Mujoco support to import a existing obj file as soft model?

quagla commented 1 year ago

Hi, that's not supported yet. Is your aim to have a 3d soft body (i.e. tetrahedral mesh) or a surface (like a cloth)?

KunZHANG1994 commented 1 year ago

Hi, that's not supported yet. Is your aim to have a 3d soft body (i.e. tetrahedral mesh) or a surface (like a cloth)?

Hi, thanks for your reply. I would like to simulate a 3D space closed surface, not a single piece of cloth. I have made a mesh file of cloth from blender. Is that possible? or Mujoco will further support?

quagla commented 1 year ago

Yes it will be possible in the next release but with the caveat that the equilibrium configuration for the bending stiffness will be assumed to be the flat configuration (an angle pi across triangles). For a closed surface probably it won't matter that much because you could try setting the bending stiffness to zero since the deformations are dominated by stretching.

KunZHANG1994 commented 1 year ago

Cool, very exciting news. By the way, when will be the next release available?

quagla commented 1 year ago

Probably in a couple of weeks, but if you build from source you might be able to access the new feature earlier.

KunZHANG1994 commented 1 year ago

OK！ Thanks！

quagla commented 1 year ago

@KunZHANG1994 We just made a new release but unfortunately the feature you requested did not make the deadline. You should keep an eye for it in the next month. I hope this does not change your plans in using MuJoCo.

KunZHANG1994 commented 1 year ago

@KunZHANG1994 We just made a new release but unfortunately the feature you requested did not make the deadline. You should keep an eye for it in the next month. I hope this does not change your plans in using MuJoCo.

OK, Thx for telling me these. I changed my working schedule and waiting your new feature update.

Shamp0o commented 1 year ago

Is this supported, yet? Couldn't find anything related to this in the elease notes of 2.3.3 and neither could I find a pull request.

quagla commented 1 year ago

We are working on a larger feature that will include this, so I'm afraid it has been delayed. Apologies for this.

dblanm commented 1 year ago

@quagla any update on when will this be released?

quagla commented 1 year ago

Unfortunately it won't be part of the next release. I've had this code ready for a while but unfortunately it's pending on a composite refactoring that has been delayed.

quagla commented 1 year ago

Hi @dblanm and @KunZHANG1994 happy to let you know that this is now supported! Let me know if it works as you expected.