Alessio Quaglino
d26501c0f3
- `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
59 lines
1.5 KiB
XML
59 lines
1.5 KiB
XML
<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>
|