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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/user/user_objects_test.cc
+45
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@@ -2070,6 +2070,51 @@ TEST_F(TendonTest, SiteBetweenPulleyNotAllowed) {
EXPECT_THAT(error.data(), HasSubstr("line 9"));
}
TEST_F(TendonTest, ActuatorForceRangeNotAllowed) {
std::string xml = R"(
<mujoco>
<worldbody>
<site name="site0"/>
<site name="site1"/>
</worldbody>
<tendon>
<spatial name="spatial" actuatorfrclimited="true" actuatorfrcrange="{}">
<site site="site0"/>
<site site="site1"/>
</spatial>
</tendon>
<actuator>
<motor tendon="spatial"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
std::string str_replace = "{}";
size_t rng_ind = xml.find(str_replace);
std::string xml0 = xml;
std::string range0 = "-2 -1";
xml0.replace(rng_ind, str_replace.length(), range0);
mjModel* m0 = LoadModelFromString(xml0.c_str(), error.data(), error.size());
EXPECT_THAT(m0, IsNull());
EXPECT_THAT(error.data(), HasSubstr("invalid actuatorfrcrange in tendon"));
std::string xml1 = xml;
std::string range1 = "1 2";
xml1.replace(rng_ind, str_replace.length(), range1);
mjModel* m1 = LoadModelFromString(xml1.c_str(), error.data(), error.size());
EXPECT_THAT(m1, IsNull());
EXPECT_THAT(error.data(), HasSubstr("invalid actuatorfrcrange in tendon"));
std::string xml2 = xml;
std::string range2 = "1 0";
xml2.replace(rng_ind, str_replace.length(), range2);
mjModel* m2 = LoadModelFromString(xml2.c_str(), error.data(), error.size());
EXPECT_THAT(m2, IsNull());
EXPECT_THAT(error.data(), HasSubstr("invalid actuatorfrcrange in tendon"));
}
// ------------- tests for tendon springrange ----------------------------------
using SpringrangeTest = MujocoTest;