Combined Joint Range of Series Connected Joints #2235
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IntroHi! I am a graduate student at DLR, I use MuJoCo for my research on series elastic actuators. My setupMujoco MJX used in a brax env, Python My questionI am trying to implement a series elastic actuator setup, by attaching two joints (motor and spring) in series: Is there a clever way of setting a range for the combined angle? Basically the motor link really has no limit, however the leg has an endstop with range="-80.214091318315241 28.647889756541161". Thanks in advance Confirmations
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Yes. You can define a fixed tendon whose length is the sum of the joint angles, and make that tendon have range limits. |
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Oh wow yeah - that was easy! Thank you so much! |
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Yes. You can define a fixed tendon whose length is the sum of the joint angles, and make that tendon have range limits.