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Add tendon armature

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PiperOrigin-RevId: 743939992
Change-Id: I587214f5d6fabbc0cc273c33d82decbe9ad8f919
This commit is contained in:
Yuval Tassa
2025-04-04 07:42:40 -07:00
committed by Copybara-Service
parent e1f5ceb65a
commit d05251af2a
22 changed files with 735 additions and 44 deletions
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test/engine/testdata/core_smooth/ten_armature_0.xml
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<mujoco>
<option integrator="RK4">
<flag energy="enable"/>
</option>
<default>
<geom rgba="0.8 0.6 .4 1"/>
<site rgba="0.4 0.8 .6 .5"/>
</default>
<worldbody>
<site name="decoration" type="cylinder" zaxis="0 -1 0" size="1 .02" pos="0 .1 0"/>
<site name="world"/>
<body pos="1 0 0">
<joint name="x" type="slide" axis="1 0 0"/>
<joint name="z" type="slide" axis="0 0 1"/>
<geom name="query" type="sphere" size=".1" mass="1"/>
<site name="body"/>
</body>
</worldbody>
<tendon>
<spatial width=".01" rgba=".2 .2 1 1" springlength=".5" stiffness="100" armature="5">
<site site="world"/>
<site site="body"/>
</spatial>
</tendon>
</mujoco>
test/engine/testdata/core_smooth/ten_armature_0_compare.xml
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<mujoco>
<asset>
<model name="tendon_model" file="ten_armature_0.xml"/>
<model name="equivalent_model" file="ten_armature_0_equiv.xml"/>
</asset>
<option integrator="RK4">
<flag energy="enable"/>
</option>
<worldbody>
<attach model="tendon_model" prefix="t_"/>
<frame pos="2.2 0 0">
<attach model="equivalent_model" prefix="e_"/>
</frame>
</worldbody>
</mujoco>
test/engine/testdata/core_smooth/ten_armature_0_equiv.xml
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<mujoco>
<option integrator="RK4">
<flag energy="enable"/>
</option>
<default>
<geom rgba="0.8 0.6 .4 1"/>
<site rgba="0.4 0.8 .6 .5"/>
</default>
<worldbody>
<site name="decoration" type="cylinder" zaxis="0 -1 0" size="1 .02" pos="0 .1 0"/>
<body>
<inertial pos="1 0 0" mass="1" diaginertia="1e-8 1e-8 1e-8"/>
<joint name="hinge" axis="0 -1 0"/>
<joint name="slide" type="slide" axis="1 0 0" springref="-.5" stiffness="100" armature="5"/>
<geom name="query" type="sphere" size=".1" pos="1 0 0"/>
</body>
</worldbody>
</mujoco>
test/engine/testdata/core_smooth/ten_armature_1.xml
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<mujoco>
<option integrator="RK4" timestep="0.0001">
<flag contact="disable" gravity="disable" energy="enable"/>
</option>
<default>
<geom rgba="0.8 0.6 .4 1"/>
<site rgba="0.4 0.8 .6 .5"/>
</default>
<worldbody>
<site name="tendon" type="box" size=".03 .03 .03" pos=".5 0 -.5"/>
<body name="link1" pos="0 0 0">
<joint name="link1" axis="0 -1 0" stiffness="100" springref="90"/>
<geom type="capsule" size=".02" fromto="0 0 0 0 0 -1"/>
<geom name="query" type="sphere" size=".08" pos="0 0 -1"/>
<site name="link1" type="box" size=".03 .03 .03" pos="0 0 -.5"/>
<site name="acc1" pos="0 0 -1"/>
</body>
</worldbody>
<tendon>
<spatial width=".01" rgba=".2 .2 1 1" armature="9">
<site site="link1"/>
<site site="tendon"/>
</spatial>
</tendon>
</mujoco>
test/engine/testdata/core_smooth/ten_armature_1_compare.xml
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<mujoco>
<visual>
<global elevation="-20"/>
<headlight ambient=".3 .3 .3" diffuse=".8 .8 .8"/>
</visual>
<asset>
<model name="tendon_model" file="ten_armature_1.xml"/>
<model name="equivalent_model" file="ten_armature_1_equiv.xml"/>
</asset>
<visual>
<global elevation="0"/>
</visual>
<option integrator="RK4" timestep="0.0001">
<flag contact="disable" gravity="disable" energy="enable"/>
</option>
<worldbody>
<attach model="tendon_model" prefix="t_"/>
<frame pos="-1.2 0 0">
<attach model="equivalent_model" prefix="e_"/>
</frame>
</worldbody>
</mujoco>
test/engine/testdata/core_smooth/ten_armature_1_equiv.xml
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<mujoco>
<option integrator="RK4" timestep="0.0001">
<flag contact="disable" gravity="disable" energy="enable"/>
</option>
<default>
<geom rgba="0.8 0.6 .4 1"/>
<site rgba="0.4 0.8 .6 .5"/>
</default>
<worldbody>
<site name="connect" type="box" size=".03 .03 .03" pos=".5 0 -.5"/>
<body name="link2" pos="0 0 0">
<joint name="link2" axis="0 -1 0" stiffness="100" springref="90"/>
<geom type="capsule" size=".02" fromto="0 0 0 0 0 -1"/>
<geom name="query" type="sphere" size=".08" pos="0 0 -1"/>
<body name="link3" pos="0 0 -.5" euler="0 90 0">
<joint name="link3" axis="0 -1 0"/>
<geom name="link3" type="box" size=".02 .02 .02" mass="1e-3"/>
<geom type="capsule" size=".015" fromto="0 0 0 0 0 .2" mass="0"/>
<body name="link4">
<joint name="link4" type="slide" axis="0 0 1" armature="9"/>
<geom type="capsule" size=".015" fromto="0 0 .3 0 0 .5" mass="0"/>
<geom type="sphere" size=".001" pos="0 0 .5" mass=".1"/>
<site name="link4" type="box" size=".03 .03 .03" pos="0 0 .5"/>
</body>
</body>
</body>
</worldbody>
<equality>
<connect site1="connect" site2="link4" solimp=".99 .99 .001" solref="0.0001 1"/>
</equality>
</mujoco>
test/engine/testdata/core_smooth/ten_armature_2.xml
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<mujoco>
<option integrator="RK4" timestep="1e-4">
<flag contact="disable" gravity="disable" energy="enable"/>
</option>
<worldbody>
<site name="tendon" type="box" size=".03 .03 .03" pos="-.5 0 0"/>
<body name="link1" pos="-1 0 0">
<joint name="link1" axis="0 -1 0" damping="0" stiffness="50"/>
<geom name="link1" type="capsule" size=".02" fromto="0 0 0 0 0 -1"/>
<body name="link2" pos="0 0 -1">
<joint name="link2" axis="0 -1 0" damping="0" stiffness="1" springref="-180"/>
<geom name="link2" type="capsule" size=".03" fromto="0 0 0 .6 0 0"/>
<site name="link2" type="box" size=".03 .03 .03" pos=".5 0 0"/>
</body>
</body>
</worldbody>
<tendon>
<spatial width=".01" rgba=".2 .2 1 1" armature="9">
<site site="link2"/>
<site site="tendon"/>
</spatial>
</tendon>
<keyframe>
<key qpos="-1 0" qvel="1 1"/>
</keyframe>
</mujoco>
test/engine/testdata/core_smooth/ten_armature_3.xml
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<mujoco>
<option integrator="RK4">
<flag contact="disable" gravity="disable" energy="enable"/>
</option>
<worldbody>
<body name="distractor">
<freejoint/>
<geom size=".1"/>
</body>
<body name="thigh" pos="-1 0 0">
<site name="0" type="box" size=".03 .03 .03" pos=".1 0 -.3"/>
<joint axis="1 0 0" stiffness="50"/>
<joint axis="0 1 0" stiffness="50"/>
<joint axis="0 0 1" stiffness="50"/>
<geom type="capsule" size=".04" fromto="0 0 0 0 0 -1"/>
<geom type="capsule" size=".02" fromto="0 0 -1 .05 -.08 -1.1"/>
<site name="1" type="box" size=".03 .03 .03" pos=".05 -.08 -1.1"/>
<body name="calf" pos="0 0 -1">
<joint axis="0 -1 0" damping="0" stiffness="20" springref="90"/>
<geom type="capsule" size=".03" fromto="0 0 0 -.6 0 0"/>
<body name="foot" pos="-.6 0 0">
<joint type="ball" stiffness="20" armature=".2"/>
<site name="2" type="box" size=".03 .03 .03" pos=".03 .1 .15"/>
<geom name="foot" type="box" size=".03 .1 .15" pos="0 0 -.05"/>
</body>
</body>
</body>
</worldbody>
<tendon>
<spatial name="ten" width=".01" rgba=".2 .2 1 1" armature="9">
<site site="0"/>
<site site="1"/>
<site site="2"/>
</spatial>
</tendon>
</mujoco>
test/engine/testdata/core_smooth/ten_armature_4.xml
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<mujoco>
<option integrator="RK4">
<flag contact="disable" gravity="disable" energy="enable"/>
</option>
<default>
<geom rgba="0.8 0.6 .4 1"/>
<site rgba="0.4 0.8 .6 .5"/>
</default>
<worldbody>
<body name="distractor">
<freejoint/>
<geom size=".1"/>
</body>
<body name="thigh" pos="-1 0 0">
<site name="0" type="box" size=".03 .03 .03" pos=".1 0 -.3"/>
<freejoint/>
<geom type="capsule" size=".04" fromto="0 0 0 0 0 -1"/>
<geom type="capsule" size=".02" fromto="0 0 -1 .05 -.08 -1.1"/>
<site name="1" type="box" size=".03 .03 .03" pos=".05 -.08 -1.1"/>
<body name="calf" pos="0 0 -1">
<joint axis="0 -1 0" damping="0" stiffness="20" springref="90"/>
<geom type="capsule" size=".03" fromto="0 0 0 -.6 0 0"/>
<body name="foot" pos="-.6 0 0">
<joint type="ball" stiffness="20" armature=".2"/>
<site name="2" type="box" size=".03 .03 .03" pos=".03 .1 .15"/>
<geom name="foot" type="box" size=".03 .1 .15" pos="0 0 -.05"/>
</body>
</body>
</body>
</worldbody>
<tendon>
<spatial name="ten" width=".01" rgba=".2 .2 1 1" armature="100" stiffness="10">
<site site="0"/>
<site site="1"/>
<site site="2"/>
</spatial>
</tendon>
<sensor>
<subtreelinvel body="thigh"/>
<subtreeangmom body="thigh"/>
</sensor>
</mujoco>
test/engine/testdata/core_smooth/ten_armature_offtree.xml
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<mujoco>
<!-- this is an example of a "bad" model where the tendon spans multiple branches of the tree -->
<option integrator="RK4">
<flag contact="disable" gravity="disable" energy="enable"/>
</option>
<default>
<geom rgba="0.8 0.6 .4 1"/>
<site rgba="0.4 0.8 .6 .5"/>
</default>
<worldbody>
<body name="distractor1">
<freejoint/>
<geom size=".1"/>
<site name="a"/>
</body>
<body>
<site name="0" type="box" size=".03 .03 .03" pos=".1 0 -.3"/>
<joint type="hinge" axis="0 -1 0"/>
<geom type="capsule" size=".04" fromto="0 0 0 0 0 -1"/>
<site name="1" type="box" size=".03 .03 .03" pos=".05 -.08 -1.1"/>
<body pos="0 0 -1">
<joint axis="0 -1 0" damping="0" stiffness="20" springref="90"/>
<geom type="capsule" size=".03" fromto="0 0 0 -.6 0 0"/>
<body pos="-.6 0 0">
<joint type="ball" stiffness="20" armature=".6"/>
<site name="2" type="box" size=".03 .03 .03" pos=".03 .1 .15"/>
<geom type="box" size=".03 .1 .15" pos="0 0 -.05"/>
</body>
</body>
</body>
<body name="distractor2" pos="0 0 1">
<freejoint/>
<geom size=".1"/>
<site name="b"/>
</body>
<body pos="1 0 0">
<site name="3" type="box" size=".03 .03 .03" pos=".1 0 -.3"/>
<joint type="hinge" axis="0 -1 0"/>
<geom type="capsule" size=".04" fromto="0 0 0 0 0 -1"/>
<site name="4" type="box" size=".03 .03 .03" pos=".05 -.08 -1.1"/>
<body pos="0 0 -1">
<joint axis="0 -1 0" damping="0" stiffness="20" springref="90"/>
<geom type="capsule" size=".03" fromto="0 0 0 -.6 0 0"/>
<body pos="-.6 0 0">
<joint type="ball" stiffness="20" armature=".2"/>
<site name="5" type="box" size=".03 .03 .03" pos=".03 .1 .15"/>
<geom type="box" size=".03 .1 .15" pos="0 0 -.05"/>
</body>
</body>
</body>
</worldbody>
<tendon>
<spatial armature="4">
<site site="b"/>
<site site="a"/>
</spatial>
<spatial width=".01" rgba=".2 .2 1 1" armature="10" stiffness="10">
<site site="2"/>
<site site="1"/>
<site site="0"/>
<site site="3"/>
<site site="4"/>
<site site="5"/>
</spatial>
<spatial width=".01" rgba=".2 .2 1 1" armature="10" stiffness="10">
<site site="0"/>
<site site="2"/>
<site site="1"/>
</spatial>
</tendon>
</mujoco>