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Add tendon actuator force limits and tendon actuator force sensor.

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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
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doc/includes/references.h
+7
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@@ -649,6 +649,7 @@ typedef enum mjtSensor_ { // type of sensor
mjSENS_ACTUATORVEL, // scalar actuator velocity
mjSENS_ACTUATORFRC, // scalar actuator force
mjSENS_JOINTACTFRC, // scalar actuator force, measured at the joint
mjSENS_TENDONACTFRC, // scalar actuator force, measured at the tendon
// sensors related to ball joints
mjSENS_BALLQUAT, // 4D ball joint quaternion
@@ -1330,12 +1331,14 @@ struct mjModel_ {
int* tendon_matid; // material id for rendering (ntendon x 1)
int* tendon_group; // group for visibility (ntendon x 1)
mjtByte* tendon_limited; // does tendon have length limits (ntendon x 1)
mjtByte* tendon_actfrclimited; // does tendon have actuator force limits (ntendon x 1)
mjtNum* tendon_width; // width for rendering (ntendon x 1)
mjtNum* tendon_solref_lim; // constraint solver reference: limit (ntendon x mjNREF)
mjtNum* tendon_solimp_lim; // constraint solver impedance: limit (ntendon x mjNIMP)
mjtNum* tendon_solref_fri; // constraint solver reference: friction (ntendon x mjNREF)
mjtNum* tendon_solimp_fri; // constraint solver impedance: friction (ntendon x mjNIMP)
mjtNum* tendon_range; // tendon length limits (ntendon x 2)
mjtNum* tendon_actfrcrange; // range of total actuator force (ntendon x 2)
mjtNum* tendon_margin; // min distance for limit detection (ntendon x 1)
mjtNum* tendon_stiffness; // stiffness coefficient (ntendon x 1)
mjtNum* tendon_damping; // damping coefficient (ntendon x 1)
@@ -2186,7 +2189,9 @@ typedef struct mjsTendon_ { // tendon specification
// length range
int limited; // does tendon have limits (mjtLimited)
int actfrclimited; // does tendon have actuator force limits
double range[2]; // length limits
double actfrcrange[2]; // actuator force limits
double margin; // margin value for tendon limit detection
mjtNum solref_limit[mjNREF]; // solver reference: tendon limits
mjtNum solimp_limit[mjNIMP]; // solver impedance: tendon limits
@@ -3086,8 +3091,10 @@ struct mjvSceneState_ {
int* tendon_matid;
int* tendon_group;
mjtByte* tendon_limited;
mjtByte* tendon_actfrclimited;
mjtNum* tendon_width;
mjtNum* tendon_range;
mjtNum* tendon_actfrcrange;
mjtNum* tendon_stiffness;
mjtNum* tendon_damping;
mjtNum* tendon_frictionloss;