MJCFTendon#

Fully qualified name: isaacsim::asset::importer::mjcf::MJCFTendon

Structs#

FixedJoint: Fixed joint connection for fixed tendons.
SpatialAttachment: Spatial attachment point for spatial tendons.
SpatialPulley: Pulley mechanism for spatial tendons.

class MJCFTendon#

Tendon element for creating cable-like constraints between bodies.

Tendons are flexible constraints that can span multiple bodies and joints, creating cable-like connections. They can be either fixed (connecting specific joints) or spatial (following geometric paths through attachments and pulleys).

Public Types

enum Type#

Enumeration of tendon types.

Values:

enumerator SPATIAL#: Spatial tendon that follows geometric paths.

enumerator FIXED#: Fixed tendon that connects specific joints.

enumerator DEFAULT#: Default tendon type when not specified.

Public Functions

inline MJCFTendon()#

inline ~MJCFTendon()#

Public Members

Type type#: Type of tendon (spatial, fixed, or default).

std::string name#: Name identifier for the tendon.

bool limited#: Whether the tendon has length limits.

Vec2 range#: Length limits [min, max] for the tendon.

Vec3 solimplimit#: Constraint solver impedance parameters for limits.

Vec2 solreflimit#: Constraint solver reference parameters for limits.

Vec3 solimpfriction#: Constraint solver impedance parameters for friction.

Vec2 solreffriction#: Constraint solver reference parameters for friction.

float margin#: Contact margin for tendon interactions.

float frictionloss#: Friction loss coefficient.

float width#: Visual width of the tendon for rendering.

std::string material#: Name of the material for tendon visualization.

Vec4 rgba#: RGBA color for tendon visualization.

float springlength#: Natural length of the tendon spring.

float stiffness#: Spring stiffness coefficient.

float damping#: Damping coefficient for the tendon.

std::vector<FixedJoint*> fixedJoints#: Collection of fixed joint connections for fixed tendons.

std::vector<SpatialAttachment*> spatialAttachments#: Collection of spatial attachment points for spatial tendons.

std::vector<SpatialPulley*> spatialPulleys#: Collection of spatial pulleys for spatial tendons.

std::map<int, std::vector<SpatialAttachment*>> spatialBranches#: Spatial attachments organized by branch identifier.

struct FixedJoint#

Fixed joint connection for fixed tendons.

Public Members

std::string joint#: Name of the joint connected to the tendon.

float coef#: Coupling coefficient for the joint connection.

struct SpatialAttachment#

Spatial attachment point for spatial tendons.

Public Types

enum Type#

Type of attachment point.

Values:

enumerator GEOM#: Attachment to a geometry element.

enumerator SITE#: Attachment to a site element.

Public Members

std::string geom#: Name of the geometry for geom-type attachments.

std::string sidesite = ""#: Name of the side site for spatial routing.

std::string site#: Name of the site for site-type attachments.

Type type#: Type of this attachment (geom or site).

int branch#: Branch identifier for multi-branch tendons.

struct SpatialPulley#

Pulley mechanism for spatial tendons.

Public Members

float divisor = 0.0#: Pulley gear ratio divisor.

int branch#: Branch identifier for the pulley.