chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

- Added passive forces plugins

Browse Source 
- Added new `cable` composite type:
  * The `initial` parameter specifies the joint at the starting boundary: `free`, `ball`, or `none`.
  * The boundary bodies are exposed with the names:`B_left` and `B_right`.
  * The vertex initial positions can be specified directly in the XML with the parameter `vertex`.
  * The orientation of the body frame **is** the orientation of the material frame of the curve.

- Added new `cable` passive force plugin:
  * Twist and bending stiffness can be set separately with the parameters `twist` and `bend`.
  * The stress-free configuration can be set to be the initial one or flat with the flag `flat`.
  * New cable example showing the formation of plectoneme.
  * New coil example.
  * New belt example showing interaction between twist and anisotropy.
  * Added test using cantilever exact solution.

PiperOrigin-RevId: 480033694
Change-Id: I491271bce8fccb185961477e903e5a72d172c8a3
This commit is contained in:
Alessio Quaglino
2022-10-10 02:45:59 -07:00
committed by Copybara-Service
parent 794ef0b771
commit e250ff0d5a
34 changed files with 1564 additions and 72 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/changelog.rst
+18
View File
@@ -60,6 +60,24 @@ General
- Added :at:`realtime` option to :ref:`visual` for starting a simulation at a slower speed.
- Added new :at:`cable` composite type:
* Cable elements are connected with ball joints.
* The `initial` parameter specifies the joint at the starting boundary: :at:`free`, :at:`ball`, or :at:`none`.
* The boundary bodies are exposed with the names :at:`B_left` and :at:`B_right`.
* The vertex initial positions can be specified directly in the XML with the parameter :at:`vertex`.
* The orientation of the body frame **is** the orientation of the material frame of the curve.
- Added new :at:`cable` passive force plugin:
* Twist and bending stiffness can be set separately with the parameters :at:`twist` and :at:`bend`.
* The stress-free configuration can be set to be the initial one or flat with the flag :at:`flat`.
* New `cable.xml <https://github.com/deepmind/mujoco/tree/main/model/plugin/cable.xml>`_ example
showing the formation of plectoneme.
* New `coil.xml <https://github.com/deepmind/mujoco/tree/main/model/plugin/coil.xml>`_ example
showing a curved equilibrium configuration.
* New `belt.xml <https://github.com/deepmind/mujoco/tree/main/model/plugin/belt.xml>`_ example
showing interaction between twist and anisotropy.
* Added test using cantilever exact solution.
Python bindings
^^^^^^^^^^^^^^^