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/xml/xml_native_writer.cc
+6
View File
@@ -725,7 +725,9 @@ void mjXWriter::OneTendon(XMLElement* elem, const mjCTendon* tendon, mjCDef* def
WriteAttr(elem, "solimpfriction", mjNIMP, tendon->solimp_friction, def->Tendon().solimp_friction,
true);
WriteAttrKey(elem, "limited", TFAuto_map, 3, tendon->limited, def->Tendon().limited);
WriteAttrKey(elem, "actuatorfrclimited", TFAuto_map, 3, tendon->actfrclimited, def->Tendon().actfrclimited);
WriteAttr(elem, "range", 2, tendon->range, def->Tendon().range);
WriteAttr(elem, "actuatorfrcrange", 2, tendon->actfrcrange, def->Tendon().actfrcrange);
WriteAttr(elem, "margin", 1, &tendon->margin, &def->Tendon().margin);
WriteAttr(elem, "stiffness", 1, &tendon->stiffness, &def->Tendon().stiffness);
WriteAttr(elem, "damping", 1, &tendon->damping, &def->Tendon().damping);
@@ -2033,6 +2035,10 @@ void mjXWriter::Sensor(XMLElement* root) {
elem = InsertEnd(section, "jointactuatorfrc");
WriteAttrTxt(elem, "joint", sensor->get_objname());
break;
case mjSENS_TENDONACTFRC:
elem = InsertEnd(section, "tendonactuatorfrc");
WriteAttrTxt(elem, "tendon", sensor->get_objname());
break;
// sensors related to ball joints
case mjSENS_BALLQUAT: