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
test/engine/testdata/actuation/tendon_force_clamp.xml
Vendored
+55
View File
@@ -0,0 +1,55 @@
<mujoco model="fixed_site">
<worldbody>
<body>
<joint name="joint0" type="hinge" axis="0 1 0"/>
<geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
<site name="site0" pos="0.25 0 0.1" size="0.025"/>
<body pos="0.5 0 0">
<joint name="joint1" type="hinge" axis="0 1 0"/>
<geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
<site name="site1" pos="0.25 0 0.1" size="0.025"/>
<body pos="0.5 0 0">
<joint name="joint2" type="hinge" axis="0 1 0"/>
<geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
<site name="site2" pos="0.25 0 0.1" size="0.025"/>
</body>
</body>
</body>
</worldbody>
<tendon>
<spatial name="spatial0" width="0.0125">
<site site="site0"/>
<site site="site1"/>
<site site="site2"/>
</spatial>
<spatial name="spatial1" width="0.0125" actuatorfrclimited="true" actuatorfrcrange="-1 1">
<site site="site1"/>
<site site="site2"/>
</spatial>
<fixed name="fixed0" actuatorfrclimited="true" actuatorfrcrange="-10 10">
<joint joint="joint0" coef=".1"/>
<joint joint="joint1" coef=".2"/>
<joint joint="joint2" coef=".3"/>
</fixed>
<fixed name="fixed1" actuatorfrclimited="true" actuatorfrcrange="0 1">
<joint joint="joint0" coef=".1"/>
<joint joint="joint2" coef=".3"/>
</fixed>
</tendon>
<actuator>
<motor tendon="spatial0"/>
<motor tendon="spatial0"/>
<motor tendon="spatial0"/>
<motor tendon="spatial1"/>
<motor tendon="spatial1"/>
<motor tendon="fixed0"/>
<motor tendon="fixed1"/>
<motor tendon="fixed1"/>
</actuator>
<sensor>
<tendonactuatorfrc tendon="spatial0"/>
<tendonactuatorfrc tendon="spatial1"/>
<tendonactuatorfrc tendon="fixed0"/>
<tendonactuatorfrc tendon="fixed1"/>
</sensor>
</mujoco>