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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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src/engine/engine_vis_visualize.c
+39 -2
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@@ -1462,7 +1462,24 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
mjERROR("unknown joint type %d", m->jnt_type[i]);
}
f2f(thisgeom->rgba, m->vis.rgba.joint, 4);
// loop over limit constraints, get impedance if this joint is limited
mjtNum imp = 0;
int efc_start = d->ne + d->nf;
int efc_end = efc_start + d->nl;
for (int k=efc_start; k < efc_end; k++) {
if (d->efc_type[k] == mjCNSTR_LIMIT_JOINT && d->efc_id[k] == i) {
imp = d->efc_KBIP[4*k + 2];
}
}
// use impedance to mix joint and constraint colors
float rgba[4];
rgba[0] = (1-imp) * m->vis.rgba.joint[0] + imp * m->vis.rgba.constraint[0];
rgba[1] = (1-imp) * m->vis.rgba.joint[1] + imp * m->vis.rgba.constraint[1];
rgba[2] = (1-imp) * m->vis.rgba.joint[2] + imp * m->vis.rgba.constraint[2];
rgba[3] = 1;
f2f(thisgeom->rgba, rgba, 4);
// vopt->label
if (vopt->label == mjLABEL_JOINT) {
@@ -2290,8 +2307,28 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
mjv_connector(thisgeom, mjGEOM_CAPSULE, sz[0], d->wrap_xpos+3*j, d->wrap_xpos+3*j+3);
// set material properties
float* rgba = m->tendon_rgba+4*i;
int tendon_matid = m->tendon_matid[i];
float rgba[4];
f2f(rgba, m->tendon_rgba+4*i, 4);
// if tendon has no material and the color is the default gray, re-color it using limit impedance
if (tendon_matid == -1 && rgba[0] == 0.5 && rgba[1] == 0.5 && rgba[2] == 0.5 && rgba[3] == 1) {
// loop over limit constraints, get impedance if this tendon is limited
mjtNum imp = 0;
int efc_start = d->ne + d->nf;
int efc_end = efc_start + d->nl;
for (int k=efc_start; k < efc_end; k++) {
if (d->efc_type[k] == mjCNSTR_LIMIT_TENDON && d->efc_id[k] == i) {
imp = d->efc_KBIP[4*k + 2];
}
}
// use impedance to mix tendon and constraint colors
rgba[0] = (1-imp) * rgba[0] + imp * m->vis.rgba.constraint[0];
rgba[1] = (1-imp) * rgba[1] + imp * m->vis.rgba.constraint[1];
rgba[2] = (1-imp) * rgba[2] + imp * m->vis.rgba.constraint[2];
}
setMaterial(m, thisgeom, tendon_matid, rgba, vopt->flags);
// override if visualizing islands