Add tendon position sensor to MJX.

PiperOrigin-RevId: 684851437
Change-Id: Ica0a30762a9cb3d612357b40b6f87cd2fc544fdb

doc/changelog.rst

@@ -24,6 +24,7 @@ MJX
 - Added support for :ref:`spatial tendons <tendon-spatial>` with pulleys and external sphere and cylinder wrapping.
 - Added sphere-cylinder and sphere-ellipsoid collision functions (:github:issue:`2126`).
 - Fixed a bug with frictionloss constraints.
+- Added ``TENDONPOS`` sensor.
 
 Bug fixes
 ^^^^^^^^^

doc/mjx.rst

@@ -217,11 +217,11 @@ The following features are **fully supported** in MJX:
    * - :ref:`Tendons <tendon>`
      - :ref:`Fixed <tendon-fixed>`
    * - :ref:`Sensors <mjtSensor>`
-     - ``MAGNETOMETER``, ``CAMPROJECTION``, ``RANGEFINDER``, ``JOINTPOS``, ``ACTUATORPOS``, ``BALLQUAT``, ``FRAMEPOS``,
+     - ``MAGNETOMETER``, ``CAMPROJECTION``, ``RANGEFINDER``, ``JOINTPOS``, ``TENDONPOS``, ``ACTUATORPOS``, ``BALLQUAT``,
-       ``FRAMEXAXIS``, ``FRAMEYAXIS``, ``FRAMEZAXIS``, ``FRAMEQUAT``, ``SUBTREECOM``, ``CLOCK``, ``VELOCIMETER``,
+       ``FRAMEPOS``, ``FRAMEXAXIS``, ``FRAMEYAXIS``, ``FRAMEZAXIS``, ``FRAMEQUAT``, ``SUBTREECOM``, ``CLOCK``,
-       ``GYRO``, ``JOINTVEL``, ``ACTUATORVEL``, ``BALLANGVEL``, ``FRAMELINVEL``, ``FRAMEANGVEL``, ``SUBTREELINVEL``,
+       ``VELOCIMETER``, ``GYRO``, ``JOINTVEL``, ``ACTUATORVEL``, ``BALLANGVEL``, ``FRAMELINVEL``, ``FRAMEANGVEL``,
-       ``SUBTREEANGMOM``, ``ACCELEROMETER``, ``FORCE``, ``TORQUE``, ``ACTUATORFRC``, ``JOINTACTFRC``, ``FRAMELINACC``,
+       ``SUBTREELINVEL``, ``SUBTREEANGMOM``, ``ACCELEROMETER``, ``FORCE``, ``TORQUE``, ``ACTUATORFRC``, ``JOINTACTFRC``,
-       ``FRAMEANGACC``.
+       ``FRAMELINACC``, ``FRAMEANGACC``.
 
 The following features are **in development** and coming soon:
 

mjx/mujoco/mjx/_src/sensor.py

@@ -166,6 +166,8 @@ def sensor_pos(m: Model, d: Data) -> Data:
       continue  # avoid adding to sensors/adrs list a second time
     elif sensor_type == SensorType.JOINTPOS:
       sensor = d.qpos[m.jnt_qposadr[objid]]
+    elif sensor_type == SensorType.TENDONPOS:
+      sensor = d.ten_length[objid]
     elif sensor_type == SensorType.ACTUATORPOS:
       sensor = d.actuator_length[objid]
     elif sensor_type == SensorType.BALLQUAT:

mjx/mujoco/mjx/_src/types.py

@@ -308,6 +308,7 @@ class SensorType(enum.IntEnum):
     CAMPROJECTION: camera projection
     RANGEFINDER: rangefinder
     JOINTPOS: joint position
+    TENDONPOS: scalar tendon position
     ACTUATORPOS: actuator position
     BALLQUAT: ball joint orientation
     FRAMEPOS: frame position
@@ -338,6 +339,7 @@ class SensorType(enum.IntEnum):
   CAMPROJECTION = mujoco.mjtSensor.mjSENS_CAMPROJECTION
   RANGEFINDER = mujoco.mjtSensor.mjSENS_RANGEFINDER
   JOINTPOS = mujoco.mjtSensor.mjSENS_JOINTPOS
+  TENDONPOS = mujoco.mjtSensor.mjSENS_TENDONPOS
   ACTUATORPOS = mujoco.mjtSensor.mjSENS_ACTUATORPOS
   BALLQUAT = mujoco.mjtSensor.mjSENS_BALLQUAT
   FRAMEPOS = mujoco.mjtSensor.mjSENS_FRAMEPOS

mjx/mujoco/mjx/test_data/sensor/sensor.xml

@@ -5,6 +5,7 @@
 -camprojection
 -rangefinder
 -jointpos
+-tendonpos
 -actuatorpos
 -ballquat
 -framepos
@@ -107,8 +108,20 @@
       ctrllimited="true"/>
   </actuator>
 
+  <tendon>
+    <fixed name="fixed">
+      <joint joint="hinge0" coef=".1"/>
+      <joint joint="hinge1" coef=".2"/>
+    </fixed>
+    <spatial name="spatial">
+      <site site="site0"/>
+      <site site="site1"/>
+    </spatial>
+  </tendon>
+
   <sensor>
     <torque site="site_torque"/>
+    <tendonpos tendon="fixed"/>
     <magnetometer name="magnetometer0" site="site0"/>
     <velocimeter name="velocimeter0" site="site0"/>
     <velocimeter name="velocimeter0cutoff" site="site0" cutoff="3e-4"/>
@@ -117,6 +130,7 @@
     <rangefinder name="rangefinder0" site="site_rangefinder0"/>
     <accelerometer name="accelerometer1" site="site1"/>
     <force site="site_force"/>
+    <tendonpos tendon="spatial"/>
     <jointpos name="jointpos0" joint="hinge0"/>
     <jointpos name="jointpos0cutoff" joint="hinge0" cutoff="1e-4"/>
     <jointvel name="jointvel0" joint="hinge0"/>