How to Resolve Tendon-Cylinder Interference After Modifying tendon.xml in MuJoCo? #2349
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IntroHi! I am a graduate student at shanghai jiao tong university, I use MuJoCo for my research on my tendon robot. My setupMujoco 3.2.6 Python My questionHello, 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 questionConfirmations
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This is just a visualization quirk. The tendon is correctly wrapping around the cylinder. There's a longstanding todo item to draw the geodesic wrapping around spheres and cylinders, but we have not gotten around to it yet. |
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This quirk can be surprisingly helpful sometimes -- it clearly indicates that there is active wrapping and where its start/end points are |
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This is just a visualization quirk. The tendon is correctly wrapping around the cylinder. There's a longstanding todo item to draw the geodesic wrapping around spheres and cylinders, but we have not gotten around to it yet.