Add rne_postconstraint function to MJX. This function matches mj_rnePostConstraint and computes cacc, cfrc_ext, and cfrc_int.
PiperOrigin-RevId: 671336319 Change-Id: I263b46c56a7609b9a8a30895c012798579d3dffa
This commit is contained in:
Taylor Howell
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Copybara-Service
Copybara-Service
parent
cd8ff4401d
commit
7b073b60c4
@@ -1,9 +0,0 @@
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<!-- For validating model with no sensor -->
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<mujoco model="no_sensor">
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<worldbody>
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<body>
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<joint type="hinge"/>
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<geom size="1"/>
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</body>
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</worldbody>
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</mujoco>
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@@ -0,0 +1,58 @@
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<mujoco model="model">
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<asset>
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<material name="material"/>
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</asset>
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<worldbody>
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<!-- tree 0 -->
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<body name="body0" pos="1 2 3">
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<joint name="hinge0" type="hinge" axis="1 0 0"/>
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<geom size="0.1" material="material"/>
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<site name="site_rangefinder0" pos="-1e-3 0 0.2"/>
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<site name="site_rangefinder1" pos="-1e-3 0 0.175"/>
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<site name="site0" pos=".1 .2 .3"/>
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<body name="body1" pos="0.1 0.2 0.3">
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<joint name="hinge1" type="hinge" axis="0 1 0"/>
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<geom size="0.25"/>
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<site name="site1" pos=".2 .4 .6"/>
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</body>
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</body>
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<!-- body 2 -->
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<body name="body2" pos=".1 .1 .1">
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<joint name="ballquat2" type="ball" pos="0.1 0.1 0.1"/>
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<geom name="geom2" size="1"/>
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</body>
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<!-- body 3 -->
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<body name="body3" pos="-.1 -.1 -.1">
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<joint name="ballquat3" type="ball" pos="0.1 0.2 0.3"/>
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<geom size="1"/>
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<site name="site3"/>
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</body>
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<!-- bodies for camera projection -->
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<body pos="11.1 0 1">
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<geom type="box" size=".1 .6 .375"/>
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<site name="frontorigin" pos="-.1 .6 .375"/>
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<site name="frontcenter" pos="-.1 0 0"/>
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</body>
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<body pos="10 0 0">
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<joint axis="0 0 1" range="-180 180" limited="false"/>
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<geom type="sphere" size=".2" pos="0 0 0.9"/>
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<camera pos="0 0 1" xyaxes="0 -1 0 0 0 1" fovy="41.11209"
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resolution="1920 1200" name="fixedcamera"/>
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</body>
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<!-- body for rangefinder -->
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<body name="body_rangefinder" pos="1 2 4">
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<geom size="0.01" material="material"/>
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</body>
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</worldbody>
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<actuator>
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<motor name="motor0" joint="hinge0" ctrlrange="-1 1" gear="10"
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ctrllimited="true"/>
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<motor name="motor1" joint="hinge1" ctrlrange="-1 1" gear="10"
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ctrllimited="true"/>
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</actuator>
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</mujoco>
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@@ -0,0 +1,65 @@
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<!-- For validating model with unsupported sensors -->
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<mujoco model="unsupported_sensor">
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<asset>
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<material name="material"/>
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</asset>
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<worldbody>
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<!-- tree 0 -->
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<body name="body0" pos="1 2 3">
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<joint name="hinge0" type="hinge" axis="1 0 0"/>
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<geom name="geom0" size="0.1" material="material"/>
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<site name="site_rangefinder0" pos="-1e-3 0 0.2"/>
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<site name="site_rangefinder1" pos="-1e-3 0 0.175"/>
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<site name="site0" pos=".1 .2 .3"/>
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<body name="body1" pos="0.1 0.2 0.3">
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<joint name="hinge1" type="hinge" axis="0 1 0"/>
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<geom name="geom1" size="0.25"/>
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<site name="site1" pos=".2 .4 .6"/>
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</body>
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</body>
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<!-- body 2 -->
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<body name="body2" pos=".1 .1 .1">
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<joint name="ballquat2" type="ball" pos="0.1 0.1 0.1"/>
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<geom name="geom2" size="1"/>
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</body>
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<!-- body 3 -->
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<body name="body3" pos="-.1 -.1 -.1">
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<joint name="ballquat3" type="ball" pos="0.1 0.2 0.3"/>
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<geom size="1"/>
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<site name="site3"/>
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</body>
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<!-- bodies for camera projection -->
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<body pos="11.1 0 1">
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<geom type="box" size=".1 .6 .375"/>
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<site name="frontorigin" pos="-.1 .6 .375"/>
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<site name="frontcenter" pos="-.1 0 0"/>
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</body>
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<body pos="10 0 0">
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<joint axis="0 0 1" range="-180 180" limited="false"/>
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<geom type="sphere" size=".2" pos="0 0 0.9"/>
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<camera pos="0 0 1" xyaxes="0 -1 0 0 0 1" fovy="41.11209"
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resolution="1920 1200" name="fixedcamera"/>
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</body>
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<!-- body for rangefinder -->
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<body name="body_rangefinder" pos="1 2 4">
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<geom size="0.01" material="material"/>
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</body>
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</worldbody>
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<actuator>
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<motor name="motor0" joint="hinge0" ctrlrange="-1 1" gear="10"
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ctrllimited="true"/>
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<motor name="motor1" joint="hinge1" ctrlrange="-1 1" gear="10"
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ctrllimited="true"/>
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</actuator>
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<sensor>
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<distance name="distance" geom1="geom0" geom2="geom1"/>
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<framelinvel name="framelinvel" objtype="site" objname="site0"/>
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<touch name="touch" site="site0"/>
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</sensor>
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</mujoco>
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@@ -1,19 +0,0 @@
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<!-- For validating model with unsupported sensor -->
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<mujoco model="unsupported_sensor">
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<worldbody>
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<body>
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<joint type="hinge"/>
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<geom name="geom0" size="1"/>
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<site name="site"/>
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</body>
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<body>
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<joint type="hinge"/>
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<geom name="geom1" size="1"/>
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</body>
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</worldbody>
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<sensor>
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<distance name="distance" geom1="geom0" geom2="geom1"/>
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<framelinvel name="framelinvel" objtype="site" objname="site"/>
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<touch name="touch" site="site"/>
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</sensor>
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</mujoco>
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