Alessio Quaglino
e250ff0d5a
- 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
76 lines
2.0 KiB
XML
76 lines
2.0 KiB
XML
<!-- Copyright 2021 DeepMind Technologies Limited
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<mujoco model="Belt">
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<include file="scene.xml"/>
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<extension>
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<required plugin="mujoco.elasticity.cable"/>
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</extension>
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<statistic center="0 0 .2" extent="1"/>
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<visual>
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<global elevation="-30"/>
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</visual>
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<option timestep="0.001">
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<flag gravity="disable"/>
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</option>
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<compiler autolimits="true"/>
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<worldbody>
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<composite type="cable" offset="-.5 0 .05" initial="none"
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vertex="
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0. 0. 0.
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0.05 0. 0.05
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0.1 0. 0.1
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0.15 0. 0.15
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0.2 0. 0.2
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0.25 0. 0.25
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0.3 0. 0.3
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0.35 0. 0.35
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0.4 0. 0.4
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0.45 0. 0.45
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0.5 0. 0.5
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0.55 0. 0.45
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0.6 0. 0.4
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0.65 0. 0.35
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0.7 0. 0.3
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0.75 0. 0.25
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0.8 0. 0.2
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0.85 0. 0.15
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0.9 0. 0.1
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0.95 0. 0.05
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1.0 0. 0. ">
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<plugin plugin="mujoco.elasticity.cable">
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<!--Units are in Pa (SI)-->
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<config key="twist" value="1e8"/>
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<config key="bend" value="1e7"/>
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</plugin>
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<joint kind="main" damping="0.1"/>
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<geom type="box" size="0.03535533906 0.02 0.0015" rgba=".8 .2 .1 1" group="3"/>
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<skin subgrid="3"/>
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</composite>
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</worldbody>
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<equality>
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<connect name="right_boundary" body1="B_last" anchor="0.07 0 0"/>
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</equality>
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<actuator>
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<motor site="S_last" gear="0 0 0 1 0 0" ctrlrange="-.2 .2"/>
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</actuator>
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</mujoco> |