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Add mjModel.tendon_armature (in preparation, not yet implemented)

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PiperOrigin-RevId: 743649968
Change-Id: I1d893e3e06afc48b652575bc7837750ab3573670
This commit is contained in:
Yuval Tassa
2025-04-03 12:05:30 -07:00
committed by Copybara-Service
parent f96f3e1c22
commit e1f5ceb65a
14 changed files with 140 additions and 11 deletions
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doc/XMLreference.rst
+10 -1
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@@ -835,7 +835,7 @@ has any effect. The settings here are global and apply to the entire model.
.. _compiler-saveinertial:
:at:`saveinertial`: :at-val:`[false, true], "false"`
If set to "true", the compiler will save explicit :ref:`inertial <body-inerital>` clauses for all bodies.
If set to "true", the compiler will save explicit :ref:`inertial <body-inertial>` clauses for all bodies.
.. _compiler-lengthrange:
@@ -4706,6 +4706,13 @@ length X, as in the clip on the right of `this example model
joint damping which is integrated implicitly by the Euler method, tendon damping is not integrated implicitly, thus
joint damping should be used if possible.
.. TODO(tassa): Update here once the feature is implemented.
.. _tendon-spatial-armature:
:at:`armature`: :at-val:`real, "0"`
Inertia associated with tendon. This feature is not yet implemented.
.. _tendon-spatial-user:
:at:`user`: :at-val:`real(nuser_tendon), "0 0 ..."`
@@ -4815,6 +4822,8 @@ as above.
.. _tendon-fixed-damping:
.. _tendon-fixed-armature:
.. _tendon-fixed-user:
.. |tendon/fixed attrib list| replace::
doc/XMLschema.rst
+2 -2
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@@ -627,7 +627,7 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`material<tendon-spatial-material>` | :ref:`margin<tendon-spatial-margin>` | :ref:`stiffness<tendon-spatial-stiffness>` | :ref:`damping<tendon-spatial-damping>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`rgba<tendon-spatial-rgba>` | :ref:`user<tendon-spatial-user>` | | | |
| | | | :ref:`armature<tendon-spatial-armature>` | :ref:`rgba<tendon-spatial-rgba>` | :ref:`user<tendon-spatial-user>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| spatial |br| |_2| |L| | | .. table:: |
@@ -661,7 +661,7 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`solimpfriction<tendon-fixed-solimpfriction>` | :ref:`frictionloss<tendon-fixed-frictionloss>` | :ref:`springlength<tendon-fixed-springlength>` | :ref:`margin<tendon-fixed-margin>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`stiffness<tendon-fixed-stiffness>` | :ref:`damping<tendon-fixed-damping>` | :ref:`user<tendon-fixed-user>` | | |
| | | | :ref:`stiffness<tendon-fixed-stiffness>` | :ref:`damping<tendon-fixed-damping>` | :ref:`armature<tendon-fixed-armature>` | :ref:`user<tendon-fixed-user>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| fixed |br| |_2| |L| | | .. table:: |
doc/includes/references.h
+3 -1
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@@ -1339,6 +1339,7 @@ struct mjModel_ {
mjtNum* tendon_margin; // min distance for limit detection (ntendon x 1)
mjtNum* tendon_stiffness; // stiffness coefficient (ntendon x 1)
mjtNum* tendon_damping; // damping coefficient (ntendon x 1)
mjtNum* tendon_armature; // inertia associated with tendon velocity (ntendon x 1)
mjtNum* tendon_frictionloss; // loss due to friction (ntendon x 1)
mjtNum* tendon_lengthspring; // spring resting length range (ntendon x 2)
mjtNum* tendon_length0; // tendon length in qpos0 (ntendon x 1)
@@ -2174,13 +2175,14 @@ typedef struct mjsTendon_ { // tendon specification
mjsElement* element; // element type
mjString* name; // name
// stiffness, damping, friction
// stiffness, damping, friction, armature
double stiffness; // stiffness coefficient
double springlength[2]; // spring resting length; {-1, -1}: use qpos_spring
double damping; // damping coefficient
double frictionloss; // friction loss
mjtNum solref_friction[mjNREF]; // solver reference: tendon friction
mjtNum solimp_friction[mjNIMP]; // solver impedance: tendon friction
double armature; // inertia associated with tendon velocity
// length range
int limited; // does tendon have limits (mjtLimited)