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
src/user/user_model.cc
+4
View File
@@ -3351,6 +3351,7 @@ void mjCModel::CopyObjects(mjModel* m) {
m->tendon_matid[i] = pte->matid;
m->tendon_group[i] = pte->group;
m->tendon_limited[i] = (mjtByte)pte->is_limited();
m->tendon_actfrclimited[i] = (mjtByte)pte->is_actfrclimited();
m->tendon_width[i] = (mjtNum)pte->width;
mjuu_copyvec(m->tendon_solref_lim+mjNREF*i, pte->solref_limit, mjNREF);
mjuu_copyvec(m->tendon_solimp_lim+mjNIMP*i, pte->solimp_limit, mjNIMP);
@@ -3358,6 +3359,8 @@ void mjCModel::CopyObjects(mjModel* m) {
mjuu_copyvec(m->tendon_solimp_fri+mjNIMP*i, pte->solimp_friction, mjNIMP);
m->tendon_range[2*i] = (mjtNum)pte->range[0];
m->tendon_range[2*i+1] = (mjtNum)pte->range[1];
m->tendon_actfrcrange[2*i] = (mjtNum)pte->actfrcrange[0];
m->tendon_actfrcrange[2*i+1] = (mjtNum)pte->actfrcrange[1];
m->tendon_margin[i] = (mjtNum)pte->margin;
m->tendon_stiffness[i] = (mjtNum)pte->stiffness;
m->tendon_damping[i] = (mjtNum)pte->damping;
@@ -5005,6 +5008,7 @@ bool mjCModel::CopyBack(const mjModel* m) {
// tendons
for (int i=0; i < ntendon; i++) {
mjuu_copyvec(tendons_[i]->range, m->tendon_range+2*i, 2);
mjuu_copyvec(tendons_[i]->actfrcrange, m->tendon_actfrcrange+2*i, 2);
mjuu_copyvec(tendons_[i]->solref_limit, m->tendon_solref_lim+mjNREF*i, mjNREF);
mjuu_copyvec(tendons_[i]->solimp_limit, m->tendon_solimp_lim+mjNIMP*i, mjNIMP);
mjuu_copyvec(tendons_[i]->solref_friction, m->tendon_solref_fri+mjNREF*i, mjNREF);