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Add spatial tendons with site wrapping to MJX.

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PiperOrigin-RevId: 673783473
Change-Id: I09b13787e3e0914c8de21d81db0347c4638b2f1d
This commit is contained in:
Taylor Howell
2024-09-12 04:15:54 -07:00
committed by Copybara-Service
parent 14f420069e
commit e3d3a24b36
10 changed files with 246 additions and 9 deletions
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mjx/mujoco/mjx/test_data/tendon/fixed.xml
+23
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<mujoco model="fixed">
<worldbody>
<body>
<joint name="joint0" type="hinge" axis="0 1 0"/>
<geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
<body pos="0.5 0 0">
<joint name="joint1" type="hinge" axis="0 1 0"/>
<geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
<body pos="0.5 0 0">
<joint name="joint2" type="hinge" axis="0 1 0"/>
<geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
</body>
</body>
</body>
</worldbody>
<tendon>
<fixed>
<joint joint="joint0" coef=".1"/>
<joint joint="joint1" coef=".2"/>
<joint joint="joint2" coef=".3"/>
</fixed>
</tendon>
</mujoco>
mjx/mujoco/mjx/test_data/tendon/fixed_site.xml
+39
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<mujoco model="fixed_site">
<worldbody>
<body>
<joint name="joint0" type="hinge" axis="0 1 0"/>
<geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
<site name="site0" pos="0.25 0 0.1" size="0.025"/>
<body pos="0.5 0 0">
<joint name="joint1" type="hinge" axis="0 1 0"/>
<geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
<site name="site1" pos="0.25 0 0.1" size="0.025"/>
<body pos="0.5 0 0">
<joint name="joint2" type="hinge" axis="0 1 0"/>
<geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
<site name="site2" pos="0.25 0 0.1" size="0.025"/>
</body>
</body>
</body>
</worldbody>
<tendon>
<spatial width="0.0125">
<site site="site0"/>
<site site="site1"/>
<site site="site2"/>
</spatial>
<fixed>
<joint joint="joint0" coef=".1"/>
<joint joint="joint1" coef=".2"/>
<joint joint="joint2" coef=".3"/>
</fixed>
<fixed>
<joint joint="joint0" coef=".1"/>
<joint joint="joint2" coef=".3"/>
</fixed>
<spatial width="0.0125">
<site site="site1"/>
<site site="site2"/>
</spatial>
</tendon>
</mujoco>
mjx/mujoco/mjx/test_data/tendon/no_tendon.xml
+16
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<mujoco model="no_tendon">
<worldbody>
<body>
<joint type="hinge" axis="0 1 0"/>
<geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
<body pos="0.5 0 0">
<joint type="hinge" axis="0 1 0"/>
<geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
<body pos="0.5 0 0">
<joint type="hinge" axis="0 1 0"/>
<geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
</body>
</body>
</body>
</worldbody>
</mujoco>
mjx/mujoco/mjx/test_data/tendon/site.xml
+26
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<mujoco model="site">
<worldbody>
<body>
<joint type="hinge" axis="0 1 0"/>
<geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
<site name="site0" pos="0.25 0 0.1" size="0.025"/>
<body pos="0.5 0 0">
<joint type="hinge" axis="0 1 0"/>
<geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
<site name="site1" pos="0.25 0 0.1" size="0.025"/>
<body pos="0.5 0 0">
<joint type="hinge" axis="0 1 0"/>
<geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
<site name="site2" pos="0.25 0 0.1" size="0.025"/>
</body>
</body>
</body>
</worldbody>
<tendon>
<spatial width="0.0125">
<site site="site0"/>
<site site="site1"/>
<site site="site2"/>
</spatial>
</tendon>
</mujoco>