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Disable tendon catenary visualization when tendon is actuated. Add note about catenary visualization.

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PiperOrigin-RevId: 706161179
Change-Id: Ifaf571e039306309869078d1a0bcf9a69f1fe9de
This commit is contained in:
Yuval Tassa
2024-12-14 01:53:13 -08:00
committed by Copybara-Service
parent ec230fa4b6
commit b26d6f0466
2 changed files with 25 additions and 2 deletions
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doc/XMLreference.rst
+12
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@@ -4661,6 +4661,18 @@ A second form of wrapping is where the tendon is constrained to pass *through* a
wrap around it. This is enabled automatically when a sidesite is specified and its position is inside the volume of
the obstacle geom.
.. youtube:: I2q7D0Vda-A
:width: 300px
:align: right
**Visualization:** Tendon paths are visualized as in the image above, respecting the :ref:`width<tendon-spatial-width>`,
:ref:`material<tendon-spatial-material>` and :ref:`rgba<tendon-spatial-rgba>` attributes below. A special kind of
visualization is used for unactuated 2-point tendons with :ref:`range<tendon-spatial-range>` or
:ref:`springlength<tendon-spatial-springlength>` of the form :at-val:`[0 X]`, with positive X. Such tendons act like a
cable, applying force only when stretched. Therefore when not stretched, they are drawn as a catenary of
length X, as in the clip on the right of `this example model
<https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/catenary.xml>`__.
.. _tendon-spatial-name:
:at:`name`: :at-val:`string, optional`
src/engine/engine_vis_visualize.c
+13 -2
View File
@@ -1729,6 +1729,16 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
objtype = mjOBJ_TENDON;
category = mjCAT_DYNAMIC;
if (vopt->flags[mjVIS_TENDON] && (category & catmask)) {
// mark actuated tendons
int* tendon_actuated = mjSTACKALLOC(d, m->ntendon, int);
mju_zeroInt(tendon_actuated, m->ntendon);
for (int i=0; i < m->nu; i++) {
if (m->actuator_trntype[i] == mjTRN_TENDON) {
tendon_actuated[m->actuator_trnid[2*i]] = 1;
}
}
// draw tendons
for (int i=0; i < m->ntendon; i++) {
if (vopt->tendongroup[mjMAX(0, mjMIN(mjNGROUP-1, m->tendon_group[i]))]) {
// tendon has a deadband spring
@@ -1752,9 +1762,10 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
!mjDISABLED(mjDSBL_GRAVITY) && // gravity enabled
mju_norm3(m->opt.gravity) > mjMINVAL && // gravity strictly nonzero
m->tendon_num[i] == 2 && // only two sites on the tendon
(limitedspring || limitedconstraint) && // either spring or constraint length limits
(limitedspring != limitedconstraint) && // either spring or constraint length limits
m->tendon_damping[i] == 0 && // no damping
m->tendon_frictionloss[i] == 0; // no frictionloss
m->tendon_frictionloss[i] == 0 && // no frictionloss
tendon_actuated[i] == 0; // no actuator
// conditions not met: draw straight lines
if (!draw_catenary) {