How to Resolve Tendon-Cylinder Interference After Modifying tendon.xml in MuJoCo? #2349

fengyuan1993012 · 2025-01-11T02:10:55Z

fengyuan1993012
Jan 11, 2025

Intro

Hi!

I am a graduate student at shanghai jiao tong university, I use MuJoCo for my research on my tendon robot.

My setup

Mujoco 3.2.6 Python

My question

Hello, I’m currently facing an issue while working with MuJoCo. I downloaded the tendon.xml file and modified the positions of cylinder and s3. However, after making these changes, I observed that the tendon interferes with the cylinder during simulation instead of following the expected path around it.

Minimal model and/or code that explain my question

<site name="s2" pos="-.03 0 .33"/>

<body pos="0 0 .3">
  <joint/>
  <geom name="g1" class="visual_cylinder"/>
  <geom fromto="0 0 0  .1 0 0"/>
  <site name="s3" pos=".025 0 .025"/>

  <body pos=".1 0 0">
    <joint/>
    <geom name="g2" class="visual_cylinder"/>
    <geom fromto="0 0 0  .1 0 0"/>
    <site name="s4" pos=".03 0 .01"/>
    <site name="s5" pos=".05 0 .02"/>
    <site name="side2" pos="0 0 .03"/>

    <body pos=".1 0 0">
      <joint/>
      <geom name="g3" class="visual_cylinder"/>
      <geom fromto="0 0 0  .1 0 0"/>
      <site name="s6" pos=".03 0 .01"/>
      <site name="side3" pos="0 0 .03"/>
    </body>
  </body>
</body>

  <pulley divisor="2"/>
  <site site="s3"/>
  <geom geom="g2" sidesite="side2"/>
  <site site="s4"/>

  <pulley divisor="2"/>
  <site site="s3"/>
  <geom geom="g2" sidesite="side2"/>
  <site site="s5"/>
  <geom geom="g3" sidesite="side3"/>
  <site site="s6"/>
</spatial>

Confirmations

I searched the latest documentation thoroughly before posting.
I searched previous Issues and Discussions, I am certain this has not been raised before.

fengyuan1993012 · 2025-01-11T02:15:46Z

fengyuan1993012
Jan 11, 2025
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How to Resolve Tendon-Cylinder Interference After Modifying tendon.xml in MuJoCo? #2349

fengyuan1993012 Jan 11, 2025

Intro

My setup

My question

Minimal model and/or code that explain my question

Confirmations

Replies: 1 comment

fengyuan1993012 Jan 11, 2025 Author

fengyuan1993012
Jan 11, 2025

fengyuan1993012
Jan 11, 2025
Author