chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add tendon actuator force limits and tendon actuator force sensor.

Browse Source 
PiperOrigin-RevId: 745096883
Change-Id: Ib9acb727fbbfc6b0b0323ee6a889053a7a878056
This commit is contained in:
Taylor Howell
2025-04-08 05:15:27 -07:00
committed by Copybara-Service
parent 16e49f2761
commit 96dda6ea75
26 changed files with 464 additions and 74 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/XMLreference.rst
+51
View File
@@ -4630,12 +4630,28 @@ length X, as in the clip on the right of `this example model
solver. If this attribute is "auto", and :at:`autolimits` is set in :ref:`compiler <compiler>`, length limits
will be enabled if range is defined.
.. _tendon-spatial-actuatorfrclimited:
:at:`actuatorfrclimited`: :at-val:`[false, true, auto], "auto"`
This attribute specifies whether actuator forces acting on the tendon should be clamped. See :ref:`CForceRange` for
details. This attribute interacts with the :ref:`actuatorfrcrange<tendon-spatial-actuatorfrcrange>` attribute. If
this attribute is "false", actuator force clamping is disabled. If it is "true", actuator force clamping is enabled.
If this attribute is "auto", and :at:`autolimits` is set in :ref:`compiler <compiler>`, actuator force clamping will
be enabled if :at:`actuatorfrcrange` is defined.
.. _tendon-spatial-range:
:at:`range`: :at-val:`real(2), "0 0"`
Range of allowed tendon lengths. Setting this attribute without specifying :at:`limited` is an error, unless
:at:`autolimits` is set in :ref:`compiler <compiler>`.
.. _tendon-spatial-actuatorfrcrange:
:at:`actuatorfrcrange`: :at-val:`real(2), "0 0"`
Range for clamping total actuator forces acting on this tendon. See :ref:`CForceRange` for details. The compiler
expects the lower bound to be nonpositive and the upper bound to be nonnegative. |br| Setting this attribute without
specifying :at:`actuatorfrclimited` is an error if :at:`compiler-autolimits` is "false".
.. _tendon-spatial-solreflimit:
.. _tendon-spatial-solimplimit:
@@ -4820,8 +4836,12 @@ as above.
.. _tendon-fixed-limited:
.. _tendon-fixed-actuatorfrclimited:
.. _tendon-fixed-range:
.. _tendon-fixed-actuatorfrcrange:
.. _tendon-fixed-solreflimit:
.. _tendon-fixed-solimplimit:
@@ -6385,6 +6405,33 @@ joint or when a single actuator acts on multiple joints. See :ref:`CForceRange`
The joint where actuator forces will be sensed. The sensor output is copied from ``mjData.qfrc_actuator``.
.. _sensor-tendonactuatorfrc:
:el-prefix:`sensor/` |-| **tendonactuatorfrc** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates an actuator force sensor, measured at a tendon. The quantity being sensed is the total force
contributed by all actuators to a single tendon. This type of sensor is important when multiple actuators act on a
single tendon. See :ref:`CForceRange` for details.
.. _sensor-tendonactuatorfrc-name:
.. _sensor-tendonactuatorfrc-noise:
.. _sensor-tendonactuatorfrc-cutoff:
.. _sensor-tendonactuatorfrc-user:
:at:`name`, :at:`noise`, :at:`cutoff`, :at:`user`
See :ref:`CSensor`.
.. _sensor-tendonactuatorfrc-tendon:
:at:`tendon`: :at-val:`string, required`
The tendon where actuator forces will be sensed.
.. _sensor-ballquat:
:el-prefix:`sensor/` |-| **ballquat** (*)
@@ -8277,8 +8324,12 @@ if omitted.
.. _default-tendon-limited:
.. _default-tendon-actuatorfrclimited:
.. _default-tendon-range:
.. _default-tendon-actuatorfrcrange:
.. _default-tendon-solreflimit:
.. _default-tendon-solimplimit: