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Add muscle actuators to MJX.

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PiperOrigin-RevId: 695334356
Change-Id: I6590ed6bdd4a8adc53d5c4e2641f472f7439cedc
This commit is contained in:
Taylor Howell
2024-11-11 07:45:11 -08:00
committed by Copybara-Service
parent 414b677eb8
commit 0f381a9ebd
10 changed files with 566 additions and 40 deletions
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mjx/mujoco/mjx/test_data/actuator/arm21.xml
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<!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco model="2-link 1-muscle arm">
<worldbody>
<body>
<geom type="capsule" size="0.01" fromto="0 0 0 1 0 0"/>
<site name="s0" pos="0 0 0.01"/>
<joint type="slide" axis="1 0 0"/>
<body pos="1 0 0">
<geom type="capsule" size="0.01" fromto="0 0 0 1 0 0"/>
<site name="s1" pos="1 0 0.01"/>
</body>
</body>
</worldbody>
<tendon>
<spatial name="tendon" width="0.01">
<site site="s0"/>
<site site="s1"/>
</spatial>
</tendon>
<actuator>
<muscle tendon="tendon" lengthrange="0 2" force="1" ctrllimited="true" ctrlrange="0 1"/>
</actuator>
</mujoco>
mjx/mujoco/mjx/test_data/actuator/arm26.xml
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<!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco model="2-link 6-muscle arm">
<option timestep="0.005" iterations="50" solver="Newton" tolerance="1e-10"/>
<visual>
<rgba haze=".3 .3 .3 1"/>
</visual>
<default>
<joint type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="0 120" damping="0.1"/>
<muscle ctrllimited="true" ctrlrange="0 1"/>
</default>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.6 0.6 0.6" rgb2="0 0 0" width="512" height="512"/>
<texture name="texplane" type="2d" builtin="checker" rgb1=".25 .25 .25" rgb2=".3 .3 .3" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
<material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
</asset>
<worldbody>
<geom name="floor" pos="0 0 -0.5" size="0 0 1" type="plane" material="matplane"/>
<light directional="true" diffuse=".8 .8 .8" specular=".2 .2 .2" pos="0 0 5" dir="0 0 -1"/>
<site name="s0" pos="-0.15 0 0" size="0.02"/>
<site name="x0" pos="0 -0.15 0" size="0.02" rgba="0 .7 0 1" group="1"/>
<body pos="0 0 0">
<geom name="upper arm" type="capsule" size="0.045" fromto="0 0 0 0.5 0 0" rgba=".5 .1 .1 1"/>
<joint name="shoulder"/>
<geom name="shoulder" type="cylinder" pos="0 0 0" size=".1 .05" rgba=".5 .1 .8 .5" mass="0" group="1"/>
<site name="s1" pos="0.15 0.06 0" size="0.02"/>
<site name="s2" pos="0.15 -0.06 0" size="0.02"/>
<site name="s3" pos="0.4 0.06 0" size="0.02"/>
<site name="s4" pos="0.4 -0.06 0" size="0.02"/>
<site name="s5" pos="0.25 0.1 0" size="0.02"/>
<site name="s6" pos="0.25 -0.1 0" size="0.02"/>
<site name="x1" pos="0.5 -0.15 0" size="0.02" rgba="0 .7 0 1" group="1"/>
<body pos="0.5 0 0">
<geom name="forearm" type="capsule" size="0.035" fromto="0 0 0 0.5 0 0" rgba=".5 .1 .1 1"/>
<joint name="elbow"/>
<geom name="elbow" type="cylinder" pos="0 0 0" size=".08 .05" rgba=".5 .1 .8 .5" mass="0" group="1"/>
<site name="s7" pos="0.11 0.05 0" size="0.02"/>
<site name="s8" pos="0.11 -0.05 0" size="0.02"/>
</body>
</body>
</worldbody>
<tendon>
<spatial name="SF" width="0.01">
<site site="s0"/>
<geom geom="shoulder"/>
<site site="s1"/>
</spatial>
<spatial name="SE" width="0.01">
<site site="s0"/>
<geom geom="shoulder" sidesite="x0"/>
<site site="s2"/>
</spatial>
<spatial name="EF" width="0.01">
<site site="s3"/>
<geom geom="elbow"/>
<site site="s7"/>
</spatial>
<spatial name="EE" width="0.01">
<site site="s4"/>
<geom geom="elbow" sidesite="x1"/>
<site site="s8"/>
</spatial>
<spatial name="BF" width="0.009" rgba=".4 .6 .4 1">
<site site="s0"/>
<geom geom="shoulder"/>
<site site="s5"/>
<geom geom="elbow"/>
<site site="s7"/>
</spatial>
<spatial name="BE" width="0.009" rgba=".4 .6 .4 1">
<site site="s0"/>
<geom geom="shoulder" sidesite="x0"/>
<site site="s6"/>
<geom geom="elbow" sidesite="x1"/>
<site site="s8"/>
</spatial>
</tendon>
<actuator>
<muscle name="SF" tendon="SF"/>
<muscle name="SE" tendon="SE"/>
<muscle name="EF" tendon="EF"/>
<muscle name="EE" tendon="EE"/>
<muscle name="BF" tendon="BF"/>
<muscle name="BE" tendon="BE"/>
</actuator>
</mujoco>
mjx/mujoco/mjx/test_data/actuator/general_dyntype.xml
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<mujoco>
<compiler autolimits="true"/>
<worldbody>
<body name="box">
<joint name="slide1" type="slide" axis="1 0 0" />
<joint name="slide2" type="slide" axis="0 1 0" />
<joint name="slide3" type="slide" axis="0 0 1" />
<joint name="slide4" type="slide" axis="1 1 0" />
<geom type="box" size=".05 .05 .05" mass="1"/>
</body>
</worldbody>
<actuator>
<general joint="slide1" dynprm="0.1" gainprm="1.1" />
<general joint="slide2" dyntype="integrator" dynprm="0.1" gainprm="1.1" />
<general joint="slide3" dyntype="filter" dynprm="0.1" gainprm="1.1" />
<general joint="slide4" dyntype="filterexact" dynprm="0.1" gainprm="1.1" />
</actuator>
</mujoco>