Replies: 2 comments
-
Arm1
<body name="link1_6" pos="0 -0.18827 0.11352" quat="0.707105 0.707108 0 0">
<inertial pos="0.0836299 9.86581e-08 0.0758482" quat="0.512306 0.487384 0.487384 0.512306" mass="5.01692" diaginertia="0.0590938 0.0581279 0.0120863"/>
<joint name="joint1_6" pos="0 0 0" axis="0 0 1" range="-3.14 3.14" actuatorfrcrange="-250 250"/>
<geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="link6"/>
<body name="link1_7" pos="0.26299 0 0.081309" quat="0.707105 0 0.707108 0">
<inertial pos="0 -0.0137767 0.105693" quat="0.987892 0.155142 0 0" mass="1.73186" diaginertia="0.00748852 0.00636741 0.00317838"/>
<site name="sensor1_7" pos="0 0 0" size="0.01"/>
<joint name="joint1_7" pos="0 0 0" axis="0 0 1" range="-3.14 3.14" actuatorfrcrange="-250 250"/>
<geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="link7"/>
<site name="grip1" pos="0 0 0.185" size="0.01" rgba="0 1 0 1"/>
</body>
Arm2
<body name="link2_6" pos="0 -0.18827 0.11352" quat="0.707105 0.707108 0 0">
<inertial pos="0.0836299 9.86581e-08 0.0758482" quat="0.512306 0.487384 0.487384 0.512306" mass="5.01692" diaginertia="0.0590938 0.0581279 0.0120863"/>
<joint name="joint2_6" pos="0 0 0" axis="0 0 1" range="-3.14 3.14" actuatorfrcrange="-250 250"/>
<geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="link6"/>
<body name="link2_7" pos="0.26299 0 0.081309" quat="0.707105 0 0.707108 0">
<inertial pos="0 -0.0137767 0.105693" quat="0.987892 0.155142 0 0" mass="1.73186" diaginertia="0.00748852 0.00636741 0.00317838"/>
<site name="sensor2_7" pos="0 0 0" size="0.01"/>
<joint name="joint2_7" pos="0 0 0" axis="0 0 1" range="-3.14 3.14" actuatorfrcrange="-250 250"/>
<geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="link7"/>
<site name="grip2" pos="0 0 0.185" size="0.01" rgba="0 1 0 1"/>
</body>
Sensor
<force name="joint1_7_sensor_force" site="sensor1_7"/>
<torque name="joint1_7_sensor_torque" site="sensor1_7"/>
<force name="joint2_7_sensor_force" site="sensor2_7"/>
<torque name="joint2_7_sensor_torque" site="sensor2_7"/> |
Beta Was this translation helpful? Give feedback.
0 replies
-
|
Here I have uploaded a very simple case that can illustrate this issue. |
Beta Was this translation helpful? Give feedback.
0 replies
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Uh oh!
There was an error while loading. Please reload this page.
Uh oh!
There was an error while loading. Please reload this page.
-
Intro
Hi!
I am a phd in BIT, I use MuJoCo for my research on robot simulation.
My setup
mujoco3.3.0/ mac os15.0 /python
My question
In my scenario, the end-effector of these two arms each grasp an object via a weld constraint, forming a closed-chain system. My question is as follows: when the system is an open-chain system (e.g., a single arm grasping an object), the z-direction value of the torque sensor remains consistent with data.qfrc_actuator or data.qfrc_constraint. However, when the system becomes a closed-chain system (e.g., two arms collaboratively grasping an object), the z-direction value of the torque sensor no longer aligns with data.qfrc_actuator or data.qfrc_constraint. My understanding is that the output torque at the joint should always match the z-direction value of the torque sensor, but clearly, there’s an issue here. Can anyone help me understand and resolve this problem? Is this a bug?
Below is the definition of the 6-DOF sensor part of my model:
Minimal model and/or code that explain my question
Confirmations
Beta Was this translation helpful? Give feedback.
All reactions