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Add test models for tendon wrapping.

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PiperOrigin-RevId: 657208035
Change-Id: Ib82bd2b31a15d1386f8096b280def9e7325c8e46
This commit is contained in:
Yuval Tassa
2024-07-29 08:23:41 -07:00
committed by Copybara-Service
parent a4bd2bec0a
commit a29f67c850
2 changed files with 112 additions and 0 deletions
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test/engine/testdata/core_smooth/tendon_wrap_cylinder.xml
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<mujoco>
<default>
<site size=".015" rgba="1 0 0 1"/>
</default>
<worldbody>
<light pos="0 0 3"/>
<geom type="plane" size="2 2 .1"/>
<site name="0a" pos="0 0 1"/>
<geom name="0g" type="cylinder" size=".05 .2" zaxis="0 1 .2" pos="0 0 0.5"/>
<body pos="0 0 .1">
<freejoint/>
<geom size=".05"/>
<site name="0b" pos="0 0 .05"/>
</body>
<site name="1a" pos=".4 0 1"/>
<geom name="1g" type="cylinder" size=".05 .2" zaxis="0 1 .2" pos=".4 0 0.5"/>
<site name="1s" pos=".52 0 .5"/>
<body pos=".4 0 .1">
<freejoint/>
<geom size=".05"/>
<site name="1b" pos="0 0 .05"/>
</body>
<site name="2a" pos="-.4 0 1"/>
<geom name="2g" type="cylinder" size=".05 .2" zaxis="0 1 .2" pos="-.4 0 0.5"/>
<site name="2s" pos="-.44 0 .5"/>
<body pos="-.4 0 .1">
<freejoint/>
<geom size=".05"/>
<site name="2b" pos="0 0 .05"/>
</body>
</worldbody>
<tendon>
<spatial range="0 0.8">
<site site="0a"/>
<geom geom="0g"/>
<site site="0b"/>
</spatial>
<spatial range="0 0.8">
<site site="1a"/>
<geom geom="1g" sidesite="1s"/>
<site site="1b"/>
</spatial>
<spatial range="0 0.8">
<site site="2a"/>
<geom geom="2g" sidesite="2s"/>
<site site="2b"/>
</spatial>
</tendon>
</mujoco>
test/engine/testdata/core_smooth/tendon_wrap_sphere.xml
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+56
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<mujoco>
<default>
<site size=".015" rgba="1 0 0 1"/>
</default>
<worldbody>
<light pos="0 0 3"/>
<geom type="plane" size="2 2 .1"/>
<site name="0a" pos="0 0 1"/>
<geom name="0g" size=".1" pos="0 0 0.5"/>
<body pos="0 0 .1">
<freejoint/>
<geom size=".05"/>
<site name="0b" pos="0 0 .05"/>
</body>
<site name="1a" pos=".4 0 1"/>
<geom name="1g" size=".1" pos=".4 0 0.5"/>
<site name="1s" pos=".52 0 .5"/>
<body pos=".4 0 .1">
<freejoint/>
<geom size=".05"/>
<site name="1b" pos="0 0 .05"/>
</body>
<site name="2a" pos="-.4 0 1"/>
<geom name="2g" size=".1" pos="-.4 0 0.5"/>
<site name="2s" pos="-.49 0 .5"/>
<body pos="-.4 0 .1">
<freejoint/>
<geom size=".05"/>
<site name="2b" pos="0 0 .05"/>
</body>
</worldbody>
<tendon>
<spatial range="0 0.8">
<site site="0a"/>
<geom geom="0g"/>
<site site="0b"/>
</spatial>
<spatial range="0 0.8">
<site site="1a"/>
<geom geom="1g" sidesite="1s"/>
<site site="1b"/>
</spatial>
<spatial range="0 0.8">
<site site="2a"/>
<geom geom="2g" sidesite="2s"/>
<site site="2b"/>
</spatial>
</tendon>
</mujoco>