genesis_simulator

2025.08.30

2025.09.15

2025.09.19

I am expressing a crank-slider mechanism through Genesis and MuJoCo.

The latest version is:

MJCF : My_asset/Crank_slider_mechasnism_V3_description/Crank_slider_system_V3_Pjoint.xml

Genesis : src/My_robot/Crank_slider_system_V3_Pjoint.py

If there are better ways to represent a closed kinematic chain, please let me know. Thank you.

Name		Name	Last commit message	Last commit date
Latest commit History 90 Commits
.vscode		.vscode
My_asset		My_asset
RealData		RealData
figure		figure
results		results
src		src
video		video
.gitignore		.gitignore
.polyscope.ini		.polyscope.ini
LICENSE		LICENSE
MUJOCO_LOG.TXT		MUJOCO_LOG.TXT
README.md		README.md
fem_hard_soft_implicit_dt=0.001_substeps=1.mp4		fem_hard_soft_implicit_dt=0.001_substeps=1.mp4
imgui.ini		imgui.ini
requirements.txt		requirements.txt
robot_actuation_forces.csv		robot_actuation_forces.csv
robot_joint_velocities.csv		robot_joint_velocities.csv
sensor_contact_forces.csv		sensor_contact_forces.csv
tablet_force_log.csv		tablet_force_log.csv
tablet_force_log10.0.csv		tablet_force_log10.0.csv
tablet_force_log_Crank-force10N.csv		tablet_force_log_Crank-force10N.csv
tablet_impact_plate_contact.csv		tablet_impact_plate_contact.csv
tablet_wall1_contact.csv		tablet_wall1_contact.csv

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