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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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include/mujoco/mjmodel.h
+1
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@@ -1040,6 +1040,7 @@ 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)
include/mujoco/mjspec.h
+2 -1
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@@ -617,13 +617,14 @@ 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)
include/mujoco/mjxmacro.h
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@@ -484,6 +484,7 @@
X ( mjtNum, tendon_margin, ntendon, 1 ) \
XMJV( mjtNum, tendon_stiffness, ntendon, 1 ) \
XMJV( mjtNum, tendon_damping, ntendon, 1 ) \
X ( mjtNum, tendon_armature, ntendon, 1 ) \
XMJV( mjtNum, tendon_frictionloss, ntendon, 1 ) \
XMJV( mjtNum, tendon_lengthspring, ntendon, 2 ) \
X ( mjtNum, tendon_length0, ntendon, 1 ) \