change direction of joints such that higher agonist pressure decreases joint position (similar to real system)

Simon Guist · Simon Guist · commit c1487078d565 · 2025-01-09T16:26:29.000+01:00
diff --git a/config/pam_mujoco/models/robot_templates/pamy2/body_template.xml b/config/pam_mujoco/models/robot_templates/pamy2/body_template.xml
@@ -119,7 +119,7 @@
     <site name="?id?_tendon_2_base_rot_point_of_contact" pos="0.0 -0.0371 0.02" type="sphere" size=".02 0 0" rgba="1 1 1 0"/>
      <!-- J1 -->
     <body pos="0 0 0.01" euler="180 0 0">
-      <joint type="hinge" name="?id?_joint_base_rotation" axis="0 0 -1"  frictionloss="114.0189"  solreffriction="0.5" solimpfriction="0.75294" limited="true" range="-85.0 85.0" solreflimit="0.003" solimplimit="1"/>
+      <joint type="hinge" name="?id?_joint_base_rotation" axis="0 0 1"  frictionloss="114.0189"  solreffriction="0.5" solimpfriction="0.75294" limited="true" range="-85.0 85.0" solreflimit="0.003" solimplimit="1"/>
       <inertial pos="0.000130781333923981 0.000395087107960899 -2.30204502387789E-05" mass="0.884595751651612" fullinertia="0.000957184766492343 0.000943127481202976 0.00166205903985012 7.26525656006142E-08 2.16679898461153E-07 -2.0945043536217E-07"/>
       <geom type="mesh" mesh="J1" rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" mass="0"/>
       <body euler="-180 0 0">
@@ -131,10 +131,10 @@
         <site name="?id?_tendon_4_base_rot_point_of_contact" pos="-0.0371 0 0.064" type="sphere" size=".02 0 0" rgba="1 1 1 0"/>
       </body>
       <!-- J2 -->
-      <body pos="0 0 -0.064" euler="180 0 180">
+      <body pos="0 0 -0.064" euler="180 0 -180">
        <inertial pos="-0.00318822226425911 -0.00156350715458152 0.187131602669781" mass="0.747221805509099" fullinertia="0.00183751261065788 0.00194288763095422 0.000201104761524309 9.36914048087975E-07 2.8551485268662E-05 4.04806959268614E-06"/>
         <geom type="mesh" mesh="J2" rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" mass="0"/>
-        <joint type="hinge" name="?id?_dof2" axis="0 -1 0" frictionloss="111.0899" solreffriction="0.075396" solimpfriction="0.65317" limited="true" range="-85.0 85.0" solreflimit="0.003" solimplimit="1"/>
+        <joint type="hinge" name="?id?_dof2" axis="0 1 0" frictionloss="111.0899" solreffriction="0.075396" solimpfriction="0.65317" limited="true" range="-85.0 85.0" solreflimit="0.003" solimplimit="1"/>
         <geom name="?id?_dummy_cylinder_for_tendon_wrapping_2" type = "cylinder" pos="0 0.0 0.0" size="0.037 0.01" zaxis="0 1 0" rgba="1 0 0 0" mass="0.000001"/>
         <site name="?id?_center_joint_1_2" type="sphere" size=".04 0 0" rgba="1 0 1 0.2"/>
         <site name="?id?_tendon_3_base_rot_connection" pos="0.0371 0 0" type="sphere" size=".01 0 0" rgba="1 0 0 0"/>
@@ -143,8 +143,8 @@
         <site name="?id?_tendon_5_base_rot_point_of_contact" pos="0.0371 0 0.39986" type="sphere" size=".02 0 0" rgba="1 1 1 0"/>
         <site name="?id?_tendon_6_base_rot_point_of_contact" pos="-0.0371 0 0.39986" type="sphere" size=".02 0 0" rgba="1 1 1 0"/>
         <!-- J3 -->
-        <body pos="0 0 0.39986" euler="180 0 180">
-          <joint type="hinge" name="?id?_dof3" axis="0 -1 0"  frictionloss="7.7682"  solreffriction="0.5" solimpfriction="0.65914" limited="true" range="-85.0 85.0" solreflimit="0.003" solimplimit="1"/>
+        <body pos="0 0 0.39986" euler="180 0 -180">
+          <joint type="hinge" name="?id?_dof3" axis="0 1 0"  frictionloss="7.7682"  solreffriction="0.5" solimpfriction="0.65914" limited="true" range="-85.0 85.0" solreflimit="0.003" solimplimit="1"/>
           <inertial pos="0.000476084514538831 -0.00627422416764544 -0.0180864211606709" mass="0.310581849393537" fullinertia="0.000170712877571993 0.00023028333846519 9.14283413127416E-05 6.39009188619916E-08 2.17211789062173E-06 -1.54349521030329E-06"/>
           <geom type="mesh" mesh="J3" rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" mass="0"/>
           <geom name="?id?_dummy_cylinder_for_tendon_wrapping_3" type = "cylinder" size="0.037 0.01" zaxis="0 1 0" rgba="1 0 0 0" mass="0.000001"/>
@@ -154,8 +154,8 @@
           <site name="?id?_tendon_7_base_rot_point_of_contact" pos="0 -0.0371 0" type="sphere" size=".02 0 0" rgba="1 1 1 0"/>
           <site name="?id?_tendon_8_base_rot_point_of_contact" pos="0 0.0371 0" type="sphere" size=".02 0 0" rgba="1 1 1 0"/>
           <!-- J4 -->
-          <body euler="180 0 0">
-            <joint type="hinge" name="?id?_dof4" axis="0 0 1" pos="0 0 0"  frictionloss="27.7682"  solreffriction="0.38711" solimpfriction="2.5699"  limited="true" range="-85.0 85.0" solreflimit="0.003" solimplimit="1"/>
+          <body euler="-180 0 0">
+            <joint type="hinge" name="?id?_dof4" axis="0 0 -1" pos="0 0 0"  frictionloss="27.7682"  solreffriction="0.38711" solimpfriction="2.5699"  limited="true" range="-85.0 85.0" solreflimit="0.003" solimplimit="1"/>
             <geom type="mesh" mesh="J4" rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" mass="0"/>
             <inertial pos="-7.76532889874594E-05 0.000224318522056323 0.278462053726287" mass="0.538421831235413" fullinertia="0.00115973040414782 0.00165716877599009 0.000528448429186829 1.77245727732792E-08 1.36310388287712E-08 6.87618492418858E-08"/>
             <geom name="?id?_racket" type = "mesh" mesh="schlaeger_anbindung-Tischtennisschlaeger_Butterfly-1" rgba="0.7 0.05 0.05 1" pos="-0.075 0.057 0.211" zaxis = "0 -1 0" mass="0.66342"/>
diff --git a/config/pam_mujoco/models/robot_templates/pamy2/body_template_no_muscles.xml b/config/pam_mujoco/models/robot_templates/pamy2/body_template_no_muscles.xml
@@ -5,22 +5,22 @@
     <geom name="?id?_frame" type="mesh" mesh="Base" rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" mass="0"/>
     <!-- J1 -->
     <body pos="0 0 0.01" euler="180 0 0">
-      <joint type="hinge" name="?id?_joint_base_rotation" axis="0 0 -1"  frictionloss="114.0189"  solreffriction="0.5" solimpfriction="0.75294" limited="true" range="-85.0 85.0" solreflimit="0.003" solimplimit="1"/>
+      <joint type="hinge" name="?id?_joint_base_rotation" axis="0 0 1"  frictionloss="114.0189"  solreffriction="0.5" solimpfriction="0.75294" limited="true" range="-85.0 85.0" solreflimit="0.003" solimplimit="1"/>
       <inertial pos="0.000130781333923981 0.000395087107960899 -2.30204502387789E-05" mass="0.884595751651612" fullinertia="0.000957184766492343 0.000943127481202976 0.00166205903985012 7.26525656006142E-08 2.16679898461153E-07 -2.0945043536217E-07"/>
       <geom type="mesh" mesh="J1" rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" mass="0"/>
       <!-- J2 -->
-      <body pos="0 0 -0.064" euler="180 0 180">    <!-- was: euler="180 0 -180"-->
+      <body pos="0 0 -0.064" euler="180 0 -180">
         <inertial pos="-0.00318822226425911 -0.00156350715458152 0.187131602669781" mass="0.747221805509099" fullinertia="0.00183751261065788 0.00194288763095422 0.000201104761524309 9.36914048087975E-07 2.8551485268662E-05 4.04806959268614E-06"/>
         <geom type="mesh" mesh="J2" rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" mass="0"/>
-        <joint type="hinge" name="?id?_dof2" axis="0 -1 0" frictionloss="111.0899" solreffriction="0.075396" solimpfriction="0.65317" limited="true" range="-85.0 85.0" solreflimit="0.003" solimplimit="1"/>
+        <joint type="hinge" name="?id?_dof2" axis="0 1 0" frictionloss="111.0899" solreffriction="0.075396" solimpfriction="0.65317" limited="true" range="-85.0 85.0" solreflimit="0.003" solimplimit="1"/>
         <!-- J3 -->
-        <body pos="0 0 0.39986" euler="180 0 180">
-              <joint type="hinge" name="?id?_dof3" axis="0 -1 0"  frictionloss="7.7682"  solreffriction="0.5" solimpfriction="0.65914" limited="true" range="-85.0 85.0" solreflimit="0.003" solimplimit="1"/>
+        <body pos="0 0 0.39986" euler="180 0 -180">
+              <joint type="hinge" name="?id?_dof3" axis="0 1 0"  frictionloss="7.7682"  solreffriction="0.5" solimpfriction="0.65914" limited="true" range="-85.0 85.0" solreflimit="0.003" solimplimit="1"/>
               <inertial pos="0.000476084514538831 -0.00627422416764544 -0.0180864211606709" mass="0.310581849393537" fullinertia="0.000170712877571993 0.00023028333846519 9.14283413127416E-05 6.39009188619916E-08 2.17211789062173E-06 -1.54349521030329E-06"/>
               <geom type="mesh" mesh="J3" rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" mass="0"/>
               <!-- J4 -->
-              <body euler="180 0 0">   <!-- was: euler="-180 -1 0"-->
-                  <joint type="hinge" name="?id?_dof4" axis="0 0 1" pos="0 0 0"  frictionloss="27.7682"  solreffriction="0.38711" solimpfriction="2.5699"  limited="true" range="-85.0 85.0" solreflimit="0.003" solimplimit="1"/>
+              <body euler="-180 0 0">
+                  <joint type="hinge" name="?id?_dof4" axis="0 0 -1" pos="0 0 0"  frictionloss="27.7682"  solreffriction="0.38711" solimpfriction="2.5699"  limited="true" range="-85.0 85.0" solreflimit="0.003" solimplimit="1"/>
                   <geom type="mesh" mesh="J4" rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" mass="0"/>
                   <inertial pos="-7.76532889874594E-05 0.000224318522056323 0.278462053726287" mass="0.538421831235413" fullinertia="0.00115973040414782 0.00165716877599009 0.000528448429186829 1.77245727732792E-08 1.36310388287712E-08 6.87618492418858E-08"/>
                   <geom name="?id?_racket" type = "mesh" mesh="schlaeger_anbindung-Tischtennisschlaeger_Butterfly-1" rgba="0.7 0.05 0.05 1" pos="-0.075 0.057 0.211" zaxis = "0 -1 0" mass="0.66342"/>
