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Visualize joint and tendon limits by re-coloring.

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PiperOrigin-RevId: 811590674
Change-Id: I5b65f2294a4bcda3c321fb51ebf29501bd0d416d
This commit is contained in:
Yuval Tassa
2025-09-25 19:01:34 -07:00
committed by Copybara-Service
parent c3bc793331
commit fe8384b6c5
4 changed files with 53 additions and 6 deletions
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doc/XMLreference.rst
+7 -3
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@@ -4886,7 +4886,9 @@ length X, as in the clip on the right of `this example model
:at:`rgba`: :at-val:`real(4), "0.5 0.5 0.5 1"`
Color and transparency of the tendon. When this value is different from the internal default, it overrides the
corresponding material properties.
corresponding material properties. If a :at:`material` is unspecified and :at:`rgba` has the default value, limited
tendons whose length exceeds the limit are recolored using the value of the :ref:`constraint impedance<soParameters>`
:math:`d` to mix the default color and :ref:`rgba/constraint<visual-rgba-constraint>`.
.. _tendon-spatial-springlength:
@@ -8292,7 +8294,9 @@ disables the rendering of the corresponding object.
.. _visual-rgba-joint:
:at:`joint`: :at-val:`real(4), "0.2 0.6 0.8 1"`
Color of the arrows used to render joint axes.
Color of the arrows used to render joint axes. If a joint is limited and the joint value exceeds the limit, the
value of the :ref:`constraint impedance<soParameters>` :math:`d` is used to mix this color and
:ref:`rgba/constraint<visual-rgba-constraint>`.
.. _visual-rgba-actuator:
@@ -8368,7 +8372,7 @@ disables the rendering of the corresponding object.
.. _visual-rgba-constraint:
:at:`constraint`: :at-val:`real(4), "0.9 0 0 1"`
Color of the capsules corresponding to spatial constraint violations.
Color corresponding to spatial constraint violations -- equality constraints, joint limits, and tendon limits.
.. _visual-rgba-slidercrank:
doc/changelog.rst
+6
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@@ -19,6 +19,12 @@ General
**Migration:** Replace ``meshdir`` and ``texturedir`` with ``compiler.meshdir`` and ``compiler.texturedir``.
- Joint decorators and spatial tendons which have limits defined and whose current value (angle or length) exceeds the
limit, are recolored by using the :ref:`constraint impedance<soParameters>` :math:`d` to mix the existing color with
:ref:`visual/rgba/constraint<visual-rgba-constraint>`. For spatial tendons, this visualization aid is active only if
no :ref:`material<tendon-spatial-material>` is set and :ref:`rgba<tendon-spatial-rgba>` is default.
Version 3.3.6 (September 15, 2025)
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