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/XMLschema.rst
+20 -7
View File
@@ -621,13 +621,15 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<tendon-spatial-name>` | :ref:`class<tendon-spatial-class>` | :ref:`group<tendon-spatial-group>` | :ref:`limited<tendon-spatial-limited>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`range<tendon-spatial-range>` | :ref:`solreflimit<tendon-spatial-solreflimit>` | :ref:`solimplimit<tendon-spatial-solimplimit>` | :ref:`solreffriction<tendon-spatial-solreffriction>` | |
| | | | :ref:`actuatorfrclimited<tendon-spatial-actuatorfrclimited>` | :ref:`range<tendon-spatial-range>` | :ref:`actuatorfrcrange<tendon-spatial-actuatorfrcrange>` | :ref:`solreflimit<tendon-spatial-solreflimit>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`solimpfriction<tendon-spatial-solimpfriction>` | :ref:`frictionloss<tendon-spatial-frictionloss>` | :ref:`springlength<tendon-spatial-springlength>` | :ref:`width<tendon-spatial-width>` | |
| | | | :ref:`solimplimit<tendon-spatial-solimplimit>` | :ref:`solreffriction<tendon-spatial-solreffriction>` | :ref:`solimpfriction<tendon-spatial-solimpfriction>` | :ref:`frictionloss<tendon-spatial-frictionloss>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`material<tendon-spatial-material>` | :ref:`margin<tendon-spatial-margin>` | :ref:`stiffness<tendon-spatial-stiffness>` | :ref:`damping<tendon-spatial-damping>` | |
| | | | :ref:`springlength<tendon-spatial-springlength>` | :ref:`width<tendon-spatial-width>` | :ref:`material<tendon-spatial-material>` | :ref:`margin<tendon-spatial-margin>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`armature<tendon-spatial-armature>` | :ref:`rgba<tendon-spatial-rgba>` | :ref:`user<tendon-spatial-user>` | | |
| | | | :ref:`stiffness<tendon-spatial-stiffness>` | :ref:`damping<tendon-spatial-damping>` | :ref:`armature<tendon-spatial-armature>` | :ref:`rgba<tendon-spatial-rgba>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<tendon-spatial-user>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| spatial |br| |_2| |L| | | .. table:: |
@@ -657,11 +659,13 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<tendon-fixed-name>` | :ref:`class<tendon-fixed-class>` | :ref:`group<tendon-fixed-group>` | :ref:`limited<tendon-fixed-limited>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`range<tendon-fixed-range>` | :ref:`solreflimit<tendon-fixed-solreflimit>` | :ref:`solimplimit<tendon-fixed-solimplimit>` | :ref:`solreffriction<tendon-fixed-solreffriction>` | |
| | | | :ref:`actuatorfrclimited<tendon-fixed-actuatorfrclimited>` | :ref:`range<tendon-fixed-range>` | :ref:`actuatorfrcrange<tendon-fixed-actuatorfrcrange>` | :ref:`solreflimit<tendon-fixed-solreflimit>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`solimpfriction<tendon-fixed-solimpfriction>` | :ref:`frictionloss<tendon-fixed-frictionloss>` | :ref:`springlength<tendon-fixed-springlength>` | :ref:`margin<tendon-fixed-margin>` | |
| | | | :ref:`solimplimit<tendon-fixed-solimplimit>` | :ref:`solreffriction<tendon-fixed-solreffriction>` | :ref:`solimpfriction<tendon-fixed-solimpfriction>` | :ref:`frictionloss<tendon-fixed-frictionloss>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`stiffness<tendon-fixed-stiffness>` | :ref:`damping<tendon-fixed-damping>` | :ref:`armature<tendon-fixed-armature>` | :ref:`user<tendon-fixed-user>` | |
| | | | :ref:`springlength<tendon-fixed-springlength>` | :ref:`margin<tendon-fixed-margin>` | :ref:`stiffness<tendon-fixed-stiffness>` | :ref:`damping<tendon-fixed-damping>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`armature<tendon-fixed-armature>` | :ref:`user<tendon-fixed-user>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| fixed |br| |_2| |L| | | .. table:: |
@@ -1004,6 +1008,15 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`tendonactuatorfrc | \* | :class: mjcf-attributes |
| <sensor-tendonactuatorfrc>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-tendonactuatorfrc-name>` | :ref:`tendon<sensor-tendonactuatorfrc-tendon>` | :ref:`cutoff<sensor-tendonactuatorfrc-cutoff>` | :ref:`noise<sensor-tendonactuatorfrc-noise>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<sensor-tendonactuatorfrc-user>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`ballquat | \* | :class: mjcf-attributes |
| <sensor-ballquat>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |