Add two new attributes to weld constraints:
- `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: 470021901 Change-Id: I3faba0e5dcab2e29ee81096f5ff71ff66d99758c
This commit is contained in:
Alessio Quaglino
committed by
Copybara-Service
Copybara-Service
parent
e2c3f04097
commit
d26501c0f3
@@ -0,0 +1,43 @@
|
||||
<!-- Copyright 2021 DeepMind Technologies Limited
|
||||
Licensed under the Apache License, Version 2.0 (the "License");
|
||||
you may not use this file except in compliance with the License.
|
||||
You may obtain a copy of the License at
|
||||
http://www.apache.org/licenses/LICENSE-2.0
|
||||
Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
See the License for the specific language governing permissions and
|
||||
limitations under the License.
|
||||
-->
|
||||
|
||||
<mujoco>
|
||||
<!--
|
||||
body2 is held by body1 through the weld constraint, so the force sensor on body1
|
||||
should register -2*gravity (for the weight of both bodies).
|
||||
-->
|
||||
<option gravity="1 2 3"/>
|
||||
|
||||
<default>
|
||||
<!-- A cube of size 0.1^3 with density of 1000 has mass of 1. -->
|
||||
<geom density="1000" size="0.05 0.05 0.05" type="box"/>
|
||||
</default>
|
||||
|
||||
<worldbody>
|
||||
<body name="body1">
|
||||
<geom/>
|
||||
<site name="sensor"/>
|
||||
</body>
|
||||
<body name="body2" pos="1 2 3">
|
||||
<joint type="free"/>
|
||||
<geom/>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
<equality>
|
||||
<weld body1="body1" body2="body2" anchor="0 0 0" torquescale="0"/>
|
||||
</equality>
|
||||
|
||||
<sensor>
|
||||
<force site="sensor" user="-2 -4 -6"/>
|
||||
</sensor>
|
||||
</mujoco>
|
||||
@@ -0,0 +1,43 @@
|
||||
<!-- Copyright 2021 DeepMind Technologies Limited
|
||||
Licensed under the Apache License, Version 2.0 (the "License");
|
||||
you may not use this file except in compliance with the License.
|
||||
You may obtain a copy of the License at
|
||||
http://www.apache.org/licenses/LICENSE-2.0
|
||||
Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
See the License for the specific language governing permissions and
|
||||
limitations under the License.
|
||||
-->
|
||||
|
||||
<mujoco>
|
||||
<!--
|
||||
body2 is held by body1 through the weld constraint, so the force sensor on body1
|
||||
should register 20 (for the weight of both bodies).
|
||||
-->
|
||||
<option gravity="0 0 -1"/>
|
||||
|
||||
<default>
|
||||
<!-- A cube of size 0.1^3 with density of 1000 has mass of 1. -->
|
||||
<geom size="0.05 0.05 0.05" type="box"/>
|
||||
</default>
|
||||
|
||||
<worldbody>
|
||||
<body name="body1">
|
||||
<geom/>
|
||||
<site name="sensor"/>
|
||||
</body>
|
||||
<body name="body2" pos="0 0 -0.1">
|
||||
<joint type="slide" axis="0 0 1"/>
|
||||
<geom/>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
<equality>
|
||||
<weld body1="body1" body2="body2" anchor="0 0 0" torquescale="0"/>
|
||||
</equality>
|
||||
|
||||
<sensor>
|
||||
<force site="sensor" user="0 0 2"/>
|
||||
</sensor>
|
||||
</mujoco>
|
||||
+43
@@ -0,0 +1,43 @@
|
||||
<!-- Copyright 2021 DeepMind Technologies Limited
|
||||
Licensed under the Apache License, Version 2.0 (the "License");
|
||||
you may not use this file except in compliance with the License.
|
||||
You may obtain a copy of the License at
|
||||
http://www.apache.org/licenses/LICENSE-2.0
|
||||
Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
See the License for the specific language governing permissions and
|
||||
limitations under the License.
|
||||
-->
|
||||
|
||||
<mujoco>
|
||||
<!--
|
||||
body2 is held by body1 through the weld constraint, so the force sensor on body1
|
||||
should register 20 (for the weight of both bodies), rotated into the y-z plane.
|
||||
-->
|
||||
<option gravity="0 0 -1"/>
|
||||
|
||||
<default>
|
||||
<!-- A cube of size 0.1^3 with density of 1000 has mass of 1. -->
|
||||
<geom size="0.05 0.05 0.05" type="box"/>
|
||||
</default>
|
||||
|
||||
<worldbody>
|
||||
<body name="body1" euler="0 45 0">
|
||||
<geom/>
|
||||
<site name="sensor" euler="0 0 90"/>
|
||||
</body>
|
||||
<body name="body2" pos="0 0 -0.2">
|
||||
<joint type="slide" axis="0 0 1"/>
|
||||
<geom/>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
<equality>
|
||||
<weld body1="body1" body2="body2" anchor="0 0 0" torquescale="0"/>
|
||||
</equality>
|
||||
|
||||
<sensor>
|
||||
<force site="sensor" user="0 1.41421356237 1.41421356237"/>
|
||||
</sensor>
|
||||
</mujoco>
|
||||
+59
@@ -0,0 +1,59 @@
|
||||
<!-- Copyright 2021 DeepMind Technologies Limited
|
||||
Licensed under the Apache License, Version 2.0 (the "License");
|
||||
you may not use this file except in compliance with the License.
|
||||
You may obtain a copy of the License at
|
||||
http://www.apache.org/licenses/LICENSE-2.0
|
||||
Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
See the License for the specific language governing permissions and
|
||||
limitations under the License.
|
||||
-->
|
||||
|
||||
<mujoco>
|
||||
<!--
|
||||
Same as force_free.xml, but with a distractor constraint.
|
||||
-->
|
||||
<option gravity="1 2 3"/>
|
||||
|
||||
<default>
|
||||
<!-- A cube of size 0.1^3 with density of 1000 has mass of 1. -->
|
||||
<geom size="0.05 0.05 0.05" type="box"/>
|
||||
</default>
|
||||
|
||||
<worldbody>
|
||||
<body name="body0" pos="-3 0 0">
|
||||
<joint name="joint0" type="slide" axis="0 0 1"/>
|
||||
<geom/>
|
||||
</body>
|
||||
<body name="body1">
|
||||
<geom/>
|
||||
<site name="sensor"/>
|
||||
</body>
|
||||
<body name="body2" pos="1 2 3">
|
||||
<joint type="free"/>
|
||||
<geom/>
|
||||
</body>
|
||||
<body name="body3" pos="3 0 0">
|
||||
<geom/>
|
||||
<body name="body3b" pos="3 0 -1">
|
||||
<joint type="slide" axis="0 0 1" frictionloss="9"/>
|
||||
<geom/>
|
||||
</body>
|
||||
</body>
|
||||
<body name="body4" pos="4 0 0">
|
||||
<joint type="free"/>
|
||||
<geom/>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
<equality>
|
||||
<joint joint1="joint0"/>
|
||||
<weld body1="body3" body2="body4"/>
|
||||
<weld body1="body1" body2="body2" anchor="0 0 0" torquescale="0"/>
|
||||
</equality>
|
||||
|
||||
<sensor>
|
||||
<force site="sensor" user="-2 -4 -6"/>
|
||||
</sensor>
|
||||
</mujoco>
|
||||
@@ -0,0 +1,43 @@
|
||||
<!-- Copyright 2021 DeepMind Technologies Limited
|
||||
Licensed under the Apache License, Version 2.0 (the "License");
|
||||
you may not use this file except in compliance with the License.
|
||||
You may obtain a copy of the License at
|
||||
http://www.apache.org/licenses/LICENSE-2.0
|
||||
Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
See the License for the specific language governing permissions and
|
||||
limitations under the License.
|
||||
-->
|
||||
|
||||
<mujoco>
|
||||
<!--
|
||||
body2 is free, but because it's offset on y it wants to rotate about x due to gravity on z. The
|
||||
connect prevents that, so the torque sensor should record the weight*offset of the second body.
|
||||
-->
|
||||
<option gravity="0 0 -1"/>
|
||||
|
||||
<default>
|
||||
<!-- A cube of size 0.1^3 with density of 1000 has mass of 1. -->
|
||||
<geom size="0.05 0.05 0.05" type="box"/>
|
||||
</default>
|
||||
|
||||
<worldbody>
|
||||
<body name="body1">
|
||||
<geom/>
|
||||
<site name="sensor"/>
|
||||
</body>
|
||||
<body name="body2" pos="0 2 0">
|
||||
<freejoint/>
|
||||
<geom/>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
<equality>
|
||||
<weld body1="body1" body2="body2" anchor="0 0 0" torquescale="0"/>
|
||||
</equality>
|
||||
|
||||
<sensor>
|
||||
<torque site="sensor" user="2 0 0"/>
|
||||
</sensor>
|
||||
</mujoco>
|
||||
Vendored
+58
@@ -0,0 +1,58 @@
|
||||
<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" torquescale="0.002"/>
|
||||
<weld name="anchor no torques" body1="box2" body2="beam2" torquescale="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>
|
||||
Reference in New Issue
Block a user