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Add two new attributes to weld constraints:

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- `anchor` determines the point of wrench application, in the frame of body2.
- `tfratio` scales applied torques relative to applied forces.
- Add visualisation of both anchor points to both weld and connect constraints.
- Add a test model showing how the new weld parameters behave.

PiperOrigin-RevId: 469228149
Change-Id: I836b0791f10fb624607a12ef3c687da991c21789
This commit is contained in:
Alessio Quaglino
2022-08-22 10:46:12 -07:00
committed by Copybara-Service
parent 558aaf2923
commit abc0a39b7a
20 changed files with 250 additions and 492 deletions
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doc/XMLreference.rst
+2 -14
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@@ -812,9 +812,7 @@ in the second column of the table have the following meaning:
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`body2` | :at:`relpose` | :at:`active` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`solref` | :at:`solimp` | :at:`anchor` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`tfratio` | | | |
| | | | :at:`solref` | :at:`solimp` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`joint` | \* | .. table:: |
@@ -4022,16 +4020,6 @@ of the other body, without any joint elements in the child body.
body1. If the quaternion part (i.e., last 4 components of the vector) are all zeros, as in the default setting, this
attribute is ignored and the relative pose is the one corresponding to the model reference pose in qpos0. The unusual
default is because all equality constraint types share the same default for their numeric parameters.
:at:`anchor`: :at-val:`real(3), "0 0 0"`
Coordinates of the weld point relative to body2. If :at:`relpose` is not specified, the meaning of
this parameter is the same as for connect constraints, except that is relative to body2. If :at:`relpose` is
specified, body1 will use the pose to compute its anchor point.
:at:`tfratio`: :at-val:`real, "1"`
Relative torque-to-force ratio. This ratio is used by the weld to scale how much it "cares" about rotational
displacements vs. translational displacements. Setting this value to 0 makes the :el:`weld` behave like a
:el:`connect` constraint. Note that this value has units of length and can therefore be interpreted as follows.
Imagining that the weld is implemented by a patch of glue sticking the two bodies together, :at:`tfratio` can be
interpreted as the diameter of this glue patch.
.. _equality-joint:
@@ -4277,7 +4265,7 @@ specify them independently.
If true, the internal state (activation) associated with this actuator is automatically clamped to :at:`actrange` at
runtime. If false, activation clamping is disabled. If auto, activation clamping will automatically be set to true
if :at:`actrange` is defined without explicitly setting this attribute to "true". See the :ref:`Activation clamping <CActRange>`
section for more details.
section for more details.
:at:`ctrlrange`: :at-val:`real(2), "0 0"`
Range for clamping the control input. The compiler expects the first value to be smaller than the second value.
:at:`forcerange`: :at-val:`real(2), "0 0"`