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Question

I am working with MuJoCo for a research project. I am attempting to make my arm model I created have a full range of motion for rotation of the elbow joint. I have provided my code below. How could I prevent the tendon from being unable to extend after contracting the tendon completely?

I’ve already tried:

Adjusting the range of the elbow joint (this doesn’t work as the arm has much less range of motion)
Adding more points for the tendons to “wrap” around

Are there any suggestions for how I could resolve this issue?

xml file code:

    <compiler angle="radian" autolimits="true"/>
    <option timestep="0.005"/>
    <size njmax="1000" nconmax="400" nkey="1" nuser_jnt="1"/>
    <visual>
        <scale framelength="0.5" framewidth="0.01"/>
    </visual>
    <asset>
        <texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2="0.6 0.8 1" width="256" height="1536"/>
        <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
        <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
    </asset>
    <worldbody>
        <light directional="true"/>
        <site name="baseProximalOrigin" pos="-.05 -0.05 0" size="0.005"/>
        <site name="baseDistalOrigin" pos="0.0 -.05 0" size="0.005"/>
        <body name="ground" euler="1.571 0 0">
            <body name="base" pos="0 0 0">
                <geom type="ellipsoid" size=".05" rgba=".3 1 .3 1" fromto="-.05 0 0 .05 0 0"/>
                <inertial pos="0 0 0" mass=".86" diaginertia="0.025 0.025 0.025"/>
                <joint name="shoulder" pos="0 0 0" axis="0 1 0" range="-2.181662 0.610865" damping="0.1"/>
                
                <body name="ProximalForearm" pos="0 0 0">
                    
                    <inertial pos="0 0 0" mass="0.86" diaginertia="0.025 0.025 0.025"/>
                    <geom type="ellipsoid" size=".05" rgba="1 .9 .3 1" fromto="0 0 0 .32 0 0"/>
                    <site name="ProximalForearmProximalInsertion" pos=".1 0 -0.05" size="0.005"/>
                    <site name="ProximalForearmDistalInsertion" pos=".1 0 0.05" size="0.005"/>
                    <site name="ProximalForearmProximalOrigin" pos=".27 0 -0.05" size="0.005"/>
                    <site name="ProximalForearmDistalOrigin" pos=".27 0 0.05" size="0.005"/>
                    
                    <body name="DistalForearm" pos="0 0 0">
                        <inertial pos="0 0 0" mass="0.86" diaginertia="0.025 0.025 0.025"/>
                        <geom type="ellipsoid" size=".04" rgba="1 .5 .3 1" fromto=".32 0 0 .64 0 0"/>
                        <site name="DistalForearmProximalInsertion" pos=".37 0 -0.05" size="0.005"/>
                        <site name="DistalForearmDistalInsertion" pos=".37 0 0.05" size="0.005"/>
                        <joint name="elbow" pos=".32 0 0" axis="0 1 0" range="0 2.792527" damping="0.1"/>
                        
                        <body name="Hand" pos="0 0 0">
                            <inertial pos="0 0 0" mass="0.1" diaginertia="0.025 0.025 0.025"/>
                            <geom type="ellipsoid" size=".04" rgba=".9 .5 1 1" fromto=".6 0 0 .68 0 0"/>
                            <site name="handsite" pos="0 0 0" rgba="1 0 0 1"/>
                        </body>
                    </body>
                </body>
            </body>
        </body>
        <body name="Object" pos="0.07 -0.47 0.07">
            <geom type="box" size="0.02 0.02 0.02" rgba="1 1 1 1"/>
            <site name="object_o" pos="0 0 0" rgba="1 0 0 1"/> 
        </body>
    </worldbody>
    <tendon>
    <spatial name="ShoulderFlexor_tendon">
      <site site="baseProximalOrigin"/>
      <site site="ProximalForearmProximalInsertion"/>
    </spatial>
    <spatial name="ShoulderExtensor_tendon">
      <site site="baseDistalOrigin"/>
      <site site="ProximalForearmDistalInsertion"/>
    </spatial>
    <spatial name="ElbowFlexor_tendon">
      <site site="ProximalForearmProximalOrigin"/>
      <site site="DistalForearmProximalInsertion"/>
    </spatial>
    <spatial name="ElbowExtensor_tendon">
      <site site="ProximalForearmDistalOrigin"/>
      <site site="DistalForearmDistalInsertion"/>
    </spatial>
    <spatial name="BiarticulateProximal_tendon">
      <site site="baseProximalOrigin"/>
      <site site="DistalForearmProximalInsertion"/>
    </spatial>
    <spatial name="BiarticulateDistal_tendon">
      <site site="baseDistalOrigin"/>
      <site site="DistalForearmDistalInsertion"/>
    </spatial>
    </tendon>
    <actuator>
        <muscle force="500" name="ShoulderFlexor" tendon="ShoulderFlexor_tendon" lengthrange=".05 .2"/>
        <muscle force="500" name="ShoulderExtensor" tendon="ShoulderExtensor_tendon" lengthrange=".05 .2"/>
        <muscle force="500" name="ElbowFlexor" tendon="ElbowFlexor_tendon" lengthrange=".025 .1"/>
        <muscle force="500" name="ElbowExtensor" tendon="ElbowExtensor_tendon" lengthrange=".025 .1"/>
        <muscle force="500" name="BiarticulateProximal" tendon="BiarticulateProximal_tendon" lengthrange=".025 .35"/>
        <muscle force="500" name="BiarticulateDistal" tendon="BiarticulateDistal_tendon" lengthrange=".025 .35"/>
    </actuator>
</mujoco>

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Mujoco: Tendon Locking Up in Arm Model