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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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test/engine/engine_forward_test.cc
+54
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@@ -46,6 +46,8 @@ static const char* const kDampedActuatorsPath =
"engine/testdata/derivative/damped_actuators.xml";
static const char* const kJointForceClamp =
"engine/testdata/actuation/joint_force_clamp.xml";
static const char* const kTendonForceClamp =
"engine/testdata/actuation/tendon_force_clamp.xml";
using ::testing::Pointwise;
using ::testing::DoubleNear;
@@ -1393,5 +1395,57 @@ TEST_F(ActuatorTest, DisableActuatorOutOfRange) {
mj_deleteModel(model);
}
TEST_F(ActuatorTest, TendonActuatorForceRange) {
const std::string xml_path = GetTestDataFilePath(kTendonForceClamp);
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
mjData* data = mj_makeData(model);
EXPECT_EQ(model->tendon_actfrclimited[0], 0);
EXPECT_EQ(model->tendon_actfrcrange[0], 0);
EXPECT_EQ(model->tendon_actfrcrange[1], 0);
EXPECT_EQ(model->tendon_actfrclimited[1], 1);
EXPECT_EQ(model->tendon_actfrcrange[2], -1);
EXPECT_EQ(model->tendon_actfrcrange[3], 1);
EXPECT_EQ(model->tendon_actfrclimited[2], 1);
EXPECT_EQ(model->tendon_actfrcrange[4], -10);
EXPECT_EQ(model->tendon_actfrcrange[5], 10);
EXPECT_EQ(model->tendon_actfrclimited[3], 1);
EXPECT_EQ(model->tendon_actfrcrange[6], 0);
EXPECT_EQ(model->tendon_actfrcrange[7], 1);
data->ctrl[0] = 1;
data->ctrl[1] = 1;
data->ctrl[2] = 1;
data->ctrl[3] = -1;
data->ctrl[4] = 1;
data->ctrl[5] = -20;
data->ctrl[6] = 5;
data->ctrl[7] = -5;
mj_forward(model, data);
EXPECT_NEAR(data->actuator_force[0], 1, 1e-6);
EXPECT_NEAR(data->actuator_force[1], 1, 1e-6);
EXPECT_NEAR(data->actuator_force[2], 1, 1e-6);
EXPECT_NEAR(data->actuator_force[3], -1, 1e-6);
EXPECT_NEAR(data->actuator_force[4], 1, 1e-6);
EXPECT_NEAR(data->actuator_force[5], -10, 1e-6);
EXPECT_NEAR(data->actuator_force[6], 5, 1e-6);
EXPECT_NEAR(data->actuator_force[7], -5, 1e-6);
EXPECT_EQ(data->sensordata[0], 3);
EXPECT_EQ(data->sensordata[1], 0);
EXPECT_EQ(data->sensordata[2], -10);
EXPECT_EQ(data->sensordata[3], 0);
mj_deleteData(data);
mj_deleteModel(model);
}
} // namespace
} // namespace mujoco