Linked actuators with hinge constraints #2538
Unanswered
mjjengels
asked this question in
Asking for Help
Replies: 1 comment
-
|
Did you try using a spatial tendon? |
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.
-
Intro
Hi!
I am a student at TU Delft, I use MuJoCo for my research on exoskeletons.
My setup
i use MuJoCo 3.2.7
My question
Hello, I have a question regarding constraining my MJCF file in such a way that the following is done:
I want to model a foot which has the following properties
There are two hinges, an adpf and an ie hinge which are not actuated and exert 1 degree of freedom in the x or y axis.
I have two linear actuators that push down on the outside of the foot, in the left back corner and in the left middle, right in front of the hinge.
In some way i want to make sure that the foot movement is constrained in such a way that the linear joints cause a rotation of the foot when actuated, rotating the foot body around the hinges. I tried to implement this with a equality constraint but this does not seem to work. Is there any way to correctly model this? I attached my code and a picture of the situation below.
Minimal model and/or code that explain my question
If you encountered the issue in a complex model, please simplify it as much as possible (while still reproducing the issue).
Model:
Confirmations
Beta Was this translation helpful? Give feedback.
All reactions