Comments (5)
Can you share a ZIP file containing the original mesh, the decomposition and the scene.xml with all the assets? I can take a closer look :)
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Can you share a ZIP file containing the original mesh, the decomposition, and the scene.xml with all the assets? I can take a closer look :)
Hi Kevin,
Thanks for the quick reply. Here is the zip file.
beaker_file.zip
If you drag the scene_gripper.xml into mujoco, it should reproduce what I have. The beaker.mtl and beaker.obj are the original mesh files. the decomposition is in the folder 'beaker'.
Thank you again and let me now if you need anything else.
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Taking a look, thanks @cherylwang20!
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Hi @cherylwang20, the XMLs you sent were super disorganized so I stripped everything down to just the beaker and the table and tweaked the physics to get better behavior.
I found that 15 convex hulls are sufficient to approximate the beaker well. Here's the obj2mjcf
command I ran:
obj2mjcf --obj-dir . --obj-filter beaker --save-mjcf --compile-model --decompose --overwrite --coacd-args.max-convex-hull 15
In terms of changes I made to the XML:
- Switched to
elliptic
cones. - Changed collision
condim
to 6. - Stiffen contacts by reducing
solref[0]
(note it should not go below 2 x your timestep). - Toggled
multiccd
to get more stable contacts between the table surface and the beaker.
Cheers!
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@kevinzakka Thanks for helping me look into this problem. And apologies for the inconvenience in XML file organization.
Thank you again for the prompt support and the development of this package!
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Related Issues (20)
- Incompatibility with Python 3.7 HOT 3
- collision_model assembly test HOT 3
- Where is the output files? HOT 4
- Poor results on some objects HOT 1
- On the problem of not being able to decompose "nonconvex shapes" into associations of "convex shapes" HOT 1
- Failed to Compile Model HOT 1
- Additional question #10 concerning the change to a concave model HOT 6
- Feature Discussion HOT 7
- Wrong colors for splitted meshes
- How to display color in obj model HOT 2
- Installer fails in Windows 10
- Modified for using OBJ or STL files only?
- mtl generated by trimesh not removed, texture removed instead HOT 1
- unknown mesh file type 1_0.obj HOT 2
- a question
- Error when running obj2mjcf HOT 2
- mismatch between visual and collision HOT 7
- Issue with Meshes Using Boolean Modifier in OBJ to MJCF Conversion HOT 1
- Move decomposition after splitting submeshes?
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