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Add site semantics to weld constraint in MJX.

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PiperOrigin-RevId: 677823461
Change-Id: Iab20e042695dfad416d61fa7cc938faba8c7a6b6
This commit is contained in:
Taylor Howell
2024-09-23 09:24:12 -07:00
committed by Copybara-Service
parent 04f8403d8e
commit 76b48b8e61
4 changed files with 69 additions and 28 deletions
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mjx/mujoco/mjx/test_data/constraints.xml
+14 -6
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@@ -16,11 +16,18 @@
<worldbody>
<geom pos="0 0 -1" type="plane" size="20 20 .01" condim="1"/>
<site name="0" pos="0 0 1"/>
<site name="site0" pos="0 0 1"/>
<body pos="0 0 1">
<freejoint/>
<geom class="box"/>
<site name="1"/>
<site name="site1"/>
</body>
<site name="site2" pos="0 -1 1"/>
<body pos="0 -1 1">
<freejoint/>
<geom class="box"/>
<site name="site3"/>
</body>
<body name="anchor1" pos="-3 0 0"/>
@@ -83,8 +90,9 @@
</tendon>
<equality>
<connect name="site" site1="0" site2="1"/>
<connect name="c_site" site1="site0" site2="site1"/>
<connect name="connect" body1="anchor1" body2="beam1" anchor="1 0 -1" />
<weld name="w_site" site1="site2" site2="site3" torquescale="0.1"/>
<weld name="weld" body1="anchor2" body2="beam2" relpose="0 0 0 1 -.3 0 0" torquescale="0.002" anchor="0 -2 0"/>
<joint name="joint" joint1="joint3" joint2="joint4" polycoef="0.5 -1 0.1 0.15 0.2" />
<tendon name="tendon" tendon1="tendon_1" tendon2="tendon_2" polycoef="0.5 -1 0.1 0.15 0.2"/>
@@ -98,10 +106,10 @@
<keyframe>
<!-- keyframe 0: default position with some motion, zero contacts -->
<key qpos=' -1 -1 1 1 0 0 0 1 0 0 0 -1 0 0 1 0 0 0 0 0 1 0 0 0 4 0 0 1 0 0 0 5 0 0 1 0 0 0 6 0 0 1 0 0 0 7 0 0 1 0 0 0' qvel='1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1'/>
<key qpos='-1 -1 1 1 0 0 0 -2 -2 1 1 0 0 0 1 0 0 0 -1 0 0 1 0 0 0 0 0 1 0 0 0 4 0 0 1 0 0 0 5 0 0 1 0 0 0 6 0 0 1 0 0 0 7 0 0 1 0 0 0' qvel='1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1'/>
<!-- keyframe 1: some contacts but constraints are quadratic -->
<key qpos=' -1 -1 1 1 0 0 0 1 0.0011 -8.2e-07 -0.0011 -0.82 1.9 -0.58 0.97 -0.14 0.17 -0.069 0.22 0.29 0.93 0.2 0.15 0.28 4.3 0.23 -0.26 0.97 0.12 0.11 0.18 5.4 0.25 -0.26 0.97 0.11 0.16 0.17 6.4 0.25 -0.26 0.97 0.11 0.16 0.17 7.4 0.25 -0.26 0.97 0.11 0.16 0.17' qvel='1 1 1 1 1 1 -0.14 3.3e-05 0.14 -0.14 -0.93 -3.6 -1.8 1 -0.57 -0.16 0.21 1.1 1 2.2 0.65 1.3 -4.2 -2.6 -5.6 0.54 1.6 2.8 -3.7 -2.3 0.7 -1.8 1.6 2.8 -3.7 -2.3 0.62 -1.8 1.6 2.8 -3.7 -2.3 0.61 -1.8'/>
<key qpos='-1 -1 1 1 0 0 0 -2 -2 1 1 0 0 0 1 0.0011 -8.2e-07 -0.0011 -0.82 1.9 -0.58 0.97 -0.14 0.17 -0.069 0.22 0.29 0.93 0.2 0.15 0.28 4.3 0.23 -0.26 0.97 0.12 0.11 0.18 5.4 0.25 -0.26 0.97 0.11 0.16 0.17 6.4 0.25 -0.26 0.97 0.11 0.16 0.17 7.4 0.25 -0.26 0.97 0.11 0.16 0.17' qvel='1 1 1 1 1 1 1 1 1 1 1 1 -0.14 3.3e-05 0.14 -0.14 -0.93 -3.6 -1.8 1 -0.57 -0.16 0.21 1.1 1 2.2 0.65 1.3 -4.2 -2.6 -5.6 0.54 1.6 2.8 -3.7 -2.3 0.7 -1.8 1.6 2.8 -3.7 -2.3 0.62 -1.8 1.6 2.8 -3.7 -2.3 0.61 -1.8'/>
<!-- keyframe 2: some contacts and some constraints are in cone state (for elliptic) -->
<key qpos=' -1 -1 1 1 0 0 0 1 0.0087 2.4e-07 -0.0086 -0.89 1.8 -0.77 0.98 -0.2 -0.0022 -0.026 0.19 0.33 0.86 0.32 0.064 0.38 4.4 0.36 -0.81 0.97 -0.0013 -0.0011 0.25 5.6 0.52 -0.75 0.98 -0.018 0.17 0.094 6.6 0.52 -0.75 0.98 -0.017 0.16 0.094 7.6 0.52 -0.76 0.98 -0.017 0.16 0.094' qvel='1 1 1 1 1 1 0.2 -1.8e-05 -0.2 -0.72 0.072 0.025 0.015 -4.9 0.35 -0.22 0.26 0.99 -4.6 1.7 1.1 0.52 -0.73 0.16 7.9 1 0.043 -0.042 1.3 1.6 -1.6 0.98 0.027 -0.024 1.3 1.6 -1.8 0.96 0.025 -0.022 1.3 1.6 -1.8 0.96'/>
<key qpos='-1 -1 1 1 0 0 0 -2 -2 1 1 0 0 0 1 0.0087 2.4e-07 -0.0086 -0.89 1.8 -0.77 0.98 -0.2 -0.0022 -0.026 0.19 0.33 0.86 0.32 0.064 0.38 4.4 0.36 -0.81 0.97 -0.0013 -0.0011 0.25 5.6 0.52 -0.75 0.98 -0.018 0.17 0.094 6.6 0.52 -0.75 0.98 -0.017 0.16 0.094 7.6 0.52 -0.76 0.98 -0.017 0.16 0.094' qvel='1 1 1 1 1 1 1 1 1 1 1 1 0.2 -1.8e-05 -0.2 -0.72 0.072 0.025 0.015 -4.9 0.35 -0.22 0.26 0.99 -4.6 1.7 1.1 0.52 -0.73 0.16 7.9 1 0.043 -0.042 1.3 1.6 -1.6 0.98 0.027 -0.024 1.3 1.6 -1.8 0.96 0.025 -0.022 1.3 1.6 -1.8 0.96'/>
</keyframe>
</mujoco>