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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/xml/xml_native_reader.cc
+11 -4
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@@ -363,8 +363,8 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
{"tendon", "*", "0"},
{"<"},
{"spatial", "*", "19", "name", "class", "group", "limited", "range",
"solreflimit", "solimplimit", "solreffriction", "solimpfriction",
{"spatial", "*", "21", "name", "class", "group", "limited", "actuatorfrclimited", "range",
"actuatorfrcrange", "solreflimit", "solimplimit", "solreffriction", "solimpfriction",
"frictionloss", "springlength", "width", "material",
"margin", "stiffness", "damping", "armature", "rgba", "user"},
{"<"},
@@ -372,8 +372,8 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
{"geom", "*", "2", "geom", "sidesite"},
{"pulley", "*", "1", "divisor"},
{">"},
{"fixed", "*", "16", "name", "class", "group", "limited", "range",
"solreflimit", "solimplimit", "solreffriction", "solimpfriction",
{"fixed", "*", "18", "name", "class", "group", "limited", "actuatorfrclimited", "range",
"actuatorfrcrange","solreflimit", "solimplimit", "solreffriction", "solimpfriction",
"frictionloss", "springlength", "margin", "stiffness", "damping", "armature", "user"},
{"<"},
{"joint", "*", "2", "joint", "coef"},
@@ -455,6 +455,7 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
{"actuatorvel", "*", "5", "name", "actuator", "cutoff", "noise", "user"},
{"actuatorfrc", "*", "5", "name", "actuator", "cutoff", "noise", "user"},
{"jointactuatorfrc", "*", "5", "name", "joint", "cutoff", "noise", "user"},
{"tendonactuatorfrc", "*", "5", "name", "tendon", "cutoff", "noise", "user"},
{"ballquat", "*", "5", "name", "joint", "cutoff", "noise", "user"},
{"ballangvel", "*", "5", "name", "joint", "cutoff", "noise", "user"},
{"jointlimitpos", "*", "5", "name", "joint", "cutoff", "noise", "user"},
@@ -2052,12 +2053,14 @@ void mjXReader::OneTendon(XMLElement* elem, mjsTendon* tendon) {
mjs_setString(tendon->material, material.c_str());
}
MapValue(elem, "limited", &tendon->limited, TFAuto_map, 3);
MapValue(elem, "actuatorfrclimited", &tendon->actfrclimited, TFAuto_map, 3);
ReadAttr(elem, "width", 1, &tendon->width, text);
ReadAttr(elem, "solreflimit", mjNREF, tendon->solref_limit, text, false, false);
ReadAttr(elem, "solimplimit", mjNIMP, tendon->solimp_limit, text, false, false);
ReadAttr(elem, "solreffriction", mjNREF, tendon->solref_friction, text, false, false);
ReadAttr(elem, "solimpfriction", mjNIMP, tendon->solimp_friction, text, false, false);
ReadAttr(elem, "range", 2, tendon->range, text);
ReadAttr(elem, "actuatorfrcrange", 2, tendon->actfrcrange, text);
ReadAttr(elem, "margin", 1, &tendon->margin, text);
ReadAttr(elem, "stiffness", 1, &tendon->stiffness, text);
ReadAttr(elem, "damping", 1, &tendon->damping, text);
@@ -3973,6 +3976,10 @@ void mjXReader::Sensor(XMLElement* section) {
sensor->type = mjSENS_JOINTACTFRC;
sensor->objtype = mjOBJ_JOINT;
ReadAttrTxt(elem, "joint", objname, true);
} else if (type=="tendonactuatorfrc") {
sensor->type = mjSENS_TENDONACTFRC;
sensor->objtype = mjOBJ_TENDON;
ReadAttrTxt(elem, "tendon", objname, true);
}
// sensors related to ball joints