How to rotate objects higher than the ground? #438
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kevinzakka
miyukin73
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I'd like to simulate pouring objects in a cup onto the ground by tilting the cup. However, now I've tilted the cup while it's in contact with the ground as shown in the video below because I don't know how to fix the cup in the air and rotate it. video_16604523238753-gwVgW8dv.movSo, I'd like to know how can I rotate the cup while keeping its xyz coordinates fixed in the air? Thank you in advance! |
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Answered by
kevinzakka
Aug 14, 2022
Replies: 1 comment 1 reply
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Here's an example of this using the test.movXML file<mujoco model="mug">
<visual>
<headlight ambient="0 0 0" diffuse="0 0 0" specular="1 1 1"/>
<quality shadowsize="8192"/>
</visual>
<asset>
<texture name="mug" file="mug.png" type="2d"/>
<material name="mug" texture="mug" specular="1" shininess="1"/>
<mesh file="mug.obj" scale=".01 .01 .01"/>
<material name="floor" reflectance=".1"/>
</asset>
<default>
<default class="collision">
<geom type="box" group="3"/>
<default class="cup">
<geom size="0.0026 0.00704 0.033"/>
</default>
<default class="handle">
<geom size="0.0025 0.00328 0.0055"/>
</default>
</default>
</default>
<worldbody>
<light pos=".4 -.4 .3" dir="-2 2 -1.5" diffuse=".6 .6 .6"/>
<light pos="-.2 -.4 .3" dir="1 2 -1.5" diffuse=".6 .6 .6"/>
<geom type="plane" size="5 5 .01" rgba="1 1 1 1" material="floor"/>
<body name="mug" pos="0 0 0.05">
<joint name="RX" axis="1 0 0"/>
<joint name="RY" axis="0 1 0"/>
<joint name="RZ" axis="0 0 1"/>
<geom type="mesh" mesh="mug" material="mug" euler="90 0 0" group="1" contype="0" conaffinity="0"/>
<geom class="cup" pos="0.0418 0 0.038" euler="0 0 0"/>
<geom class="cup" pos="0.0398 0.0129 0.038" euler="0 0 18"/>
<geom class="cup" pos="0.0339 0.0246 0.038" euler="0 0 36"/>
<geom class="cup" pos="0.0246 0.0339 0.038" euler="0 0 54"/>
<geom class="cup" pos="0.0129 0.0398 0.038" euler="0 0 72"/>
<geom class="cup" pos="0 0.0418 0.038" euler="0 0 90"/>
<geom class="cup" pos="-0.0129 0.0398 0.038" euler="0 0 108"/>
<geom class="cup" pos="-0.0246 0.0339 0.038" euler="0 0 126"/>
<geom class="cup" pos="-0.0339 0.0246 0.038" euler="0 0 144"/>
<geom class="cup" pos="-0.0398 0.0129 0.038" euler="0 0 162"/>
<geom class="cup" pos="-0.0418 0 0.038" euler="0 0 180"/>
<geom class="cup" pos="-0.0398 -0.0129 0.038" euler="0 0 198"/>
<geom class="cup" pos="-0.0339 -0.0246 0.038" euler="0 0 216"/>
<geom class="cup" pos="-0.0246 -0.0339 0.038" euler="0 0 234"/>
<geom class="cup" pos="-0.0129 -0.0398 0.038" euler="0 0 252"/>
<geom class="cup" pos="0 -0.0418 0.038" euler="0 0 270"/>
<geom class="cup" pos="0.0129 -0.0398 0.038" euler="0 0 288"/>
<geom class="cup" pos="0.0246 -0.0339 0.038" euler="0 0 306"/>
<geom class="cup" pos="0.0339 -0.0246 0.038" euler="0 0 324"/>
<geom class="cup" pos="0.0398 -0.0129 0.038" euler="0 0 342"/>
<geom class="cup" type="cylinder" size="0.045 0.0026" pos="0 0 0.0026"/>
<body name="handle" pos="0.056 0 0.0395" euler="90 0 0">
<geom class="handle" pos="0.0193 0 0" euler="0 0 0"/>
<geom class="handle" pos="0.0184 0.00568 0" euler="0 0 17.1"/>
<geom class="handle" pos="0.0159 0.0108 0" euler="0 0 34.3"/>
<geom class="handle" pos="0.012 0.0151 0" euler="0 0 51.4"/>
<geom class="handle" pos="0.00703 0.0179 0" euler="0 0 68.6"/>
<geom class="handle" pos="0.00144 0.0192 0" euler="0 0 85.7"/>
<geom class="handle" pos="0.00144 -0.0192 0" euler="0 0 274"/>
<geom class="handle" pos="0.00703 -0.0179 0" euler="0 0 291"/>
<geom class="handle" pos="0.012 -0.0151 0" euler="0 0 309"/>
<geom class="handle" pos="0.0159 -0.0108 0" euler="0 0 326"/>
<geom class="handle" pos="0.0184 -0.00568 0" euler="0 0 343"/>
<geom class="collision" size="0.007 0.0025 0.0055" pos="-0.007 -0.0195 0"/>
<geom class="collision" size="0.007 0.0025 0.0055" pos="-0.007 0.0195 0"/>
</body>
</body>
</worldbody>
</mujoco>NB: I used 3 hinge joints solely for illustration purposes (to display it in the simulate window). If you want rotations about the X, Y and Z axes, use a ball joint instead. |
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Thank you very much! |
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Answer selected by
yuvaltassa
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worldbodyat a specific position (say offset by 5 cm from the ground)Here's an example of this using the
mug.xmlfile in the model directory.test.mov
XML file