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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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test/engine/testdata/weld.xml
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@@ -1,58 +0,0 @@
<mujoco>
<option>
<flag contact="disable"/>
</option>
<default>
<default class="static">
<geom size=".5 .1 .5" rgba=".5 .7 .5 .3"/>
</default>
<default class="free">
<geom type="box" size=".2" fromto="0 0 0 0 -2 0" rgba=".4 .7 .6 .3"/>
</default>
</default>
<worldbody>
<geom pos="0 0 -2" type="plane" size="10 10 .01"/>
<light pos="0 0 20"/>
<body name="box1" pos="-3 0 0">
<geom type="box" class="static"/>
</body>
<body name="beam1" pos="-3 0 0">
<freejoint/>
<geom class="free"/>
</body>
<body name="box2" pos="-1 0 0">
<geom type="box" class="static"/>
</body>
<body name="beam2" pos="-1 0 0">
<freejoint/>
<geom class="free"/>
</body>
<body name="box3" pos="1 0 0">
<geom type="box" class="static"/>
</body>
<body name="beam3" pos="1 0 0">
<freejoint/>
<geom class="free"/>
</body>
<body name="box4" pos="3 0 0">
<geom type="box" class="static"/>
</body>
<body name="beam4" pos="3 0 0">
<freejoint/>
<geom class="free"/>
</body>
</worldbody>
<equality>
<weld name="weak torques" body1="box1" body2="beam1" tfratio="0.002"/>
<weld name="anchor no torques" body1="box2" body2="beam2" tfratio="0" anchor="0 -2 0"/>
<weld name="relpose" body1="box3" body2="beam3" relpose="0 0 0 1 -.3 0 0"/>
<weld name="relpose+anchor" body1="box4" body2="beam4" relpose="0 0 0 1 -.3 0 0" anchor="0 0 -1"/>
</equality>
</mujoco>