Add circle to flexcomp and remove rope and loop from composite.

Add pulley example to show a circle use case. Switch on flex edge rendering by default (no effect when flex skin is rendered). PiperOrigin-RevId: 700738379 Change-Id: I8469bbf194de01c8dab66c9a51c49879013df141
2024-11-27 10:13:28 -08:00
parent 85c6fc1bdb
commit 300450f8b8
9 changed files with 98 additions and 198 deletions
@@ -0,0 +1,51 @@
+<!-- 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="Pulley">
+  <include file="scene.xml"/>
+
+  <option>
+    <flag gravity="disable"/>
+  </option>
+
+  <statistic center="0 -.3 1" extent="2.5"/>
+
+  <worldbody>
+    <flexcomp name="cable" type="circle" count="40 1 1" spacing=".15 1 1" dim="1"
+              radius="0.02" pos="0 0 1" rgba="1 0 0 1">
+      <edge equality="true"/>
+    </flexcomp>
+    <body name="left" pos="-.7 0 1">
+      <joint name="expand_left" type="slide" axis="-1 0 0" range="0 2" damping="20"/>
+      <joint name="rotate" type="hinge" axis="0 0 1"/>
+      <geom type="cylinder" size=".2 .2" density="1"/>
+    </body>
+    <body name="right" pos=".7 0 1">
+      <joint name="expand_right" type="slide" axis="1 0 0" range="0 2" damping="20"/>
+      <joint type="hinge" axis="0 0 1"/>
+      <geom type="cylinder" size=".2 .2" density="1"/>
+    </body>
+  </worldbody>
+
+   <actuator>
+    <position name="expand_left" joint="expand_left" ctrlrange="0 2" kp="100"/>
+    <position name="expand_right" joint="expand_right" ctrlrange="0 2" kp="100"/>
+    <velocity name="rotate" joint="rotate" ctrlrange="0 8"/>
+  </actuator>
+
+  <keyframe>
+    <key ctrl=".7 .7 8"/>
+  </keyframe>
+</mujoco>