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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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src/engine/engine_sensor.c
+12 -2
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@@ -698,8 +698,8 @@ void mj_sensorVel(const mjModel* m, mjData* d) {
// acceleration/force-dependent sensors
void mj_sensorAcc(const mjModel* m, mjData* d) {
int rootid, bodyid, objtype, objid, adr, nusersensor = 0;
int ne = d->ne, nf = d->nf, nefc = d->nefc;
mjtNum tmp[6], conforce[6], conray[3];
int ne = d->ne, nf = d->nf, nefc = d->nefc, nu = m->nu;
mjtNum tmp[6], conforce[6], conray[3], frc;
mjContact* con;
// disabled sensors: return
@@ -825,6 +825,16 @@ void mj_sensorAcc(const mjModel* m, mjData* d) {
d->sensordata[adr] = d->qfrc_actuator[m->jnt_dofadr[objid]];
break;
case mjSENS_TENDONACTFRC: // tendonactfrc
frc = 0.0;
for (int j=0; j < nu; j++) {
if (m->actuator_trntype[j] == mjTRN_TENDON && m->actuator_trnid[2*j] == objid) {
frc += d->actuator_force[j];
}
}
d->sensordata[adr] = frc;
break;
case mjSENS_JOINTLIMITFRC: // jointlimitfrc
d->sensordata[adr] = 0;
for (int j=ne+nf; j < nefc; j++) {