Add tendon actuator force limits and tendon actuator force sensor.
PiperOrigin-RevId: 745096883 Change-Id: Ib9acb727fbbfc6b0b0323ee6a889053a7a878056
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Taylor Howell
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Copybara-Service
Copybara-Service
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96dda6ea75
@@ -4630,12 +4630,28 @@ length X, as in the clip on the right of `this example model
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solver. If this attribute is "auto", and :at:`autolimits` is set in :ref:`compiler <compiler>`, length limits
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will be enabled if range is defined.
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.. _tendon-spatial-actuatorfrclimited:
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:at:`actuatorfrclimited`: :at-val:`[false, true, auto], "auto"`
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This attribute specifies whether actuator forces acting on the tendon should be clamped. See :ref:`CForceRange` for
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details. This attribute interacts with the :ref:`actuatorfrcrange<tendon-spatial-actuatorfrcrange>` attribute. If
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this attribute is "false", actuator force clamping is disabled. If it is "true", actuator force clamping is enabled.
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If this attribute is "auto", and :at:`autolimits` is set in :ref:`compiler <compiler>`, actuator force clamping will
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be enabled if :at:`actuatorfrcrange` is defined.
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.. _tendon-spatial-range:
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:at:`range`: :at-val:`real(2), "0 0"`
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Range of allowed tendon lengths. Setting this attribute without specifying :at:`limited` is an error, unless
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:at:`autolimits` is set in :ref:`compiler <compiler>`.
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.. _tendon-spatial-actuatorfrcrange:
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:at:`actuatorfrcrange`: :at-val:`real(2), "0 0"`
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Range for clamping total actuator forces acting on this tendon. See :ref:`CForceRange` for details. The compiler
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expects the lower bound to be nonpositive and the upper bound to be nonnegative. |br| Setting this attribute without
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specifying :at:`actuatorfrclimited` is an error if :at:`compiler-autolimits` is "false".
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.. _tendon-spatial-solreflimit:
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.. _tendon-spatial-solimplimit:
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@@ -4820,8 +4836,12 @@ as above.
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.. _tendon-fixed-limited:
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.. _tendon-fixed-actuatorfrclimited:
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.. _tendon-fixed-range:
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.. _tendon-fixed-actuatorfrcrange:
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.. _tendon-fixed-solreflimit:
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.. _tendon-fixed-solimplimit:
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@@ -6385,6 +6405,33 @@ joint or when a single actuator acts on multiple joints. See :ref:`CForceRange`
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The joint where actuator forces will be sensed. The sensor output is copied from ``mjData.qfrc_actuator``.
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.. _sensor-tendonactuatorfrc:
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:el-prefix:`sensor/` |-| **tendonactuatorfrc** (*)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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This element creates an actuator force sensor, measured at a tendon. The quantity being sensed is the total force
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contributed by all actuators to a single tendon. This type of sensor is important when multiple actuators act on a
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single tendon. See :ref:`CForceRange` for details.
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.. _sensor-tendonactuatorfrc-name:
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.. _sensor-tendonactuatorfrc-noise:
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.. _sensor-tendonactuatorfrc-cutoff:
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.. _sensor-tendonactuatorfrc-user:
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:at:`name`, :at:`noise`, :at:`cutoff`, :at:`user`
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See :ref:`CSensor`.
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.. _sensor-tendonactuatorfrc-tendon:
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:at:`tendon`: :at-val:`string, required`
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The tendon where actuator forces will be sensed.
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.. _sensor-ballquat:
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:el-prefix:`sensor/` |-| **ballquat** (*)
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@@ -8277,8 +8324,12 @@ if omitted.
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.. _default-tendon-limited:
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.. _default-tendon-actuatorfrclimited:
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.. _default-tendon-range:
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.. _default-tendon-actuatorfrcrange:
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.. _default-tendon-solreflimit:
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.. _default-tendon-solimplimit:
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+20
-7
@@ -621,13 +621,15 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`name<tendon-spatial-name>` | :ref:`class<tendon-spatial-class>` | :ref:`group<tendon-spatial-group>` | :ref:`limited<tendon-spatial-limited>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`range<tendon-spatial-range>` | :ref:`solreflimit<tendon-spatial-solreflimit>` | :ref:`solimplimit<tendon-spatial-solimplimit>` | :ref:`solreffriction<tendon-spatial-solreffriction>` | |
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| | | | :ref:`actuatorfrclimited<tendon-spatial-actuatorfrclimited>` | :ref:`range<tendon-spatial-range>` | :ref:`actuatorfrcrange<tendon-spatial-actuatorfrcrange>` | :ref:`solreflimit<tendon-spatial-solreflimit>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`solimpfriction<tendon-spatial-solimpfriction>` | :ref:`frictionloss<tendon-spatial-frictionloss>` | :ref:`springlength<tendon-spatial-springlength>` | :ref:`width<tendon-spatial-width>` | |
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| | | | :ref:`solimplimit<tendon-spatial-solimplimit>` | :ref:`solreffriction<tendon-spatial-solreffriction>` | :ref:`solimpfriction<tendon-spatial-solimpfriction>` | :ref:`frictionloss<tendon-spatial-frictionloss>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`material<tendon-spatial-material>` | :ref:`margin<tendon-spatial-margin>` | :ref:`stiffness<tendon-spatial-stiffness>` | :ref:`damping<tendon-spatial-damping>` | |
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| | | | :ref:`springlength<tendon-spatial-springlength>` | :ref:`width<tendon-spatial-width>` | :ref:`material<tendon-spatial-material>` | :ref:`margin<tendon-spatial-margin>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`armature<tendon-spatial-armature>` | :ref:`rgba<tendon-spatial-rgba>` | :ref:`user<tendon-spatial-user>` | | |
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| | | | :ref:`stiffness<tendon-spatial-stiffness>` | :ref:`damping<tendon-spatial-damping>` | :ref:`armature<tendon-spatial-armature>` | :ref:`rgba<tendon-spatial-rgba>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`user<tendon-spatial-user>` | | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_2| spatial |br| |_2| |L| | | .. table:: |
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@@ -657,11 +659,13 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`name<tendon-fixed-name>` | :ref:`class<tendon-fixed-class>` | :ref:`group<tendon-fixed-group>` | :ref:`limited<tendon-fixed-limited>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`range<tendon-fixed-range>` | :ref:`solreflimit<tendon-fixed-solreflimit>` | :ref:`solimplimit<tendon-fixed-solimplimit>` | :ref:`solreffriction<tendon-fixed-solreffriction>` | |
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| | | | :ref:`actuatorfrclimited<tendon-fixed-actuatorfrclimited>` | :ref:`range<tendon-fixed-range>` | :ref:`actuatorfrcrange<tendon-fixed-actuatorfrcrange>` | :ref:`solreflimit<tendon-fixed-solreflimit>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`solimpfriction<tendon-fixed-solimpfriction>` | :ref:`frictionloss<tendon-fixed-frictionloss>` | :ref:`springlength<tendon-fixed-springlength>` | :ref:`margin<tendon-fixed-margin>` | |
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| | | | :ref:`solimplimit<tendon-fixed-solimplimit>` | :ref:`solreffriction<tendon-fixed-solreffriction>` | :ref:`solimpfriction<tendon-fixed-solimpfriction>` | :ref:`frictionloss<tendon-fixed-frictionloss>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`stiffness<tendon-fixed-stiffness>` | :ref:`damping<tendon-fixed-damping>` | :ref:`armature<tendon-fixed-armature>` | :ref:`user<tendon-fixed-user>` | |
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| | | | :ref:`springlength<tendon-fixed-springlength>` | :ref:`margin<tendon-fixed-margin>` | :ref:`stiffness<tendon-fixed-stiffness>` | :ref:`damping<tendon-fixed-damping>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`armature<tendon-fixed-armature>` | :ref:`user<tendon-fixed-user>` | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_2| fixed |br| |_2| |L| | | .. table:: |
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@@ -1004,6 +1008,15 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| sensor |br| |_| |L| | | .. table:: |
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| :ref:`tendonactuatorfrc | \* | :class: mjcf-attributes |
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| <sensor-tendonactuatorfrc>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`name<sensor-tendonactuatorfrc-name>` | :ref:`tendon<sensor-tendonactuatorfrc-tendon>` | :ref:`cutoff<sensor-tendonactuatorfrc-cutoff>` | :ref:`noise<sensor-tendonactuatorfrc-noise>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`user<sensor-tendonactuatorfrc-user>` | | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| sensor |br| |_| |L| | | .. table:: |
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| :ref:`ballquat | \* | :class: mjcf-attributes |
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| <sensor-ballquat>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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@@ -20,6 +20,8 @@ General
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bodies when saving to XML.
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- Added :ref:`orientation<body-composite-quat>` attribute to :ref:`composite<body-composite>`. Moreover, allow the
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composite to be the direct child of a frame.
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- Added :ref:`tendon actuator force limits<tendon-spatial-actuatorfrclimited>` and
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:ref:`tendon actuator force sensor<sensor-tendonactuatorfrc>`.
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Bug fixes
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^^^^^^^^^
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@@ -649,6 +649,7 @@ typedef enum mjtSensor_ { // type of sensor
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mjSENS_ACTUATORVEL, // scalar actuator velocity
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mjSENS_ACTUATORFRC, // scalar actuator force
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mjSENS_JOINTACTFRC, // scalar actuator force, measured at the joint
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mjSENS_TENDONACTFRC, // scalar actuator force, measured at the tendon
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// sensors related to ball joints
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mjSENS_BALLQUAT, // 4D ball joint quaternion
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@@ -1330,12 +1331,14 @@ struct mjModel_ {
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int* tendon_matid; // material id for rendering (ntendon x 1)
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int* tendon_group; // group for visibility (ntendon x 1)
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mjtByte* tendon_limited; // does tendon have length limits (ntendon x 1)
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mjtByte* tendon_actfrclimited; // does tendon have actuator force limits (ntendon x 1)
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mjtNum* tendon_width; // width for rendering (ntendon x 1)
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mjtNum* tendon_solref_lim; // constraint solver reference: limit (ntendon x mjNREF)
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mjtNum* tendon_solimp_lim; // constraint solver impedance: limit (ntendon x mjNIMP)
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mjtNum* tendon_solref_fri; // constraint solver reference: friction (ntendon x mjNREF)
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mjtNum* tendon_solimp_fri; // constraint solver impedance: friction (ntendon x mjNIMP)
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mjtNum* tendon_range; // tendon length limits (ntendon x 2)
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mjtNum* tendon_actfrcrange; // range of total actuator force (ntendon x 2)
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mjtNum* tendon_margin; // min distance for limit detection (ntendon x 1)
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mjtNum* tendon_stiffness; // stiffness coefficient (ntendon x 1)
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mjtNum* tendon_damping; // damping coefficient (ntendon x 1)
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@@ -2186,7 +2189,9 @@ typedef struct mjsTendon_ { // tendon specification
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// length range
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int limited; // does tendon have limits (mjtLimited)
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int actfrclimited; // does tendon have actuator force limits
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double range[2]; // length limits
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double actfrcrange[2]; // actuator force limits
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double margin; // margin value for tendon limit detection
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mjtNum solref_limit[mjNREF]; // solver reference: tendon limits
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mjtNum solimp_limit[mjNIMP]; // solver impedance: tendon limits
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@@ -3086,8 +3091,10 @@ struct mjvSceneState_ {
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int* tendon_matid;
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int* tendon_group;
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mjtByte* tendon_limited;
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mjtByte* tendon_actfrclimited;
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mjtNum* tendon_width;
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mjtNum* tendon_range;
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mjtNum* tendon_actfrcrange;
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mjtNum* tendon_stiffness;
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mjtNum* tendon_damping;
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mjtNum* tendon_frictionloss;
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+4
-1
@@ -724,7 +724,10 @@ Force clamping at joint input with :ref:`joint/actuatorfrcrange<body-joint-actua
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:ref:`jointactuatorfrc<sensor-jointactuatorfrc>` sensor to report the total actuator force acting on a joint.
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The standard :ref:`actuatorfrc<sensor-actuatorfrc>` sensor will continue to report the pre-clamped actuator force.
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The three clamping options above are non-exclusive and can be combined as required.
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Force clamping at tendon input with :ref:`tendon/actuatorfrcrange<tendon-spatial-actuatorfrcrange>`:
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This tendon attribute clamps input forces from all actuators acting on the tendon.
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The clamping options above are non-exclusive and can be combined as required.
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.. _CLengthRange:
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