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
56 lines
1.8 KiB
XML
56 lines
1.8 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="Cable">
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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 .3" extent="1"/>
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<visual>
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<global elevation="-30"/>
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</visual>
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<compiler autolimits="true"/>
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<size nconmax="100" njmax="300" nstack="500000"/>
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<worldbody>
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<composite type="cable" curve="s" count="41 1 1" size="1" offset="-.3 0 .6" initial="none">
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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="1e7"/>
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<config key="bend" value="4e6"/>
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</plugin>
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<joint kind="main" damping=".015"/>
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<geom type="capsule" size=".005" rgba=".8 .2 .1 1" condim="1"/>
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</composite>
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<body name="slider" pos=".7 0 .6">
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<joint type="slide" axis="1 0 0" damping=".1"/>
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<geom size=".01"/>
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</body>
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</worldbody>
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<equality>
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<connect name="right_boundary" body1="B_last" body2="slider" anchor=".025 0 0"/>
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</equality>
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<contact>
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<exclude body1="B_last" body2="slider"/>
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</contact>
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<actuator>
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<motor site="S_last" gear="0 0 0 1 0 0" ctrlrange="-.03 .03"/>
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</actuator>
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</mujoco> |