raisim::Tendon::Properties

struct · #include <raisim/constraints/Tendon.hpp>

Passive and limit parameters of a tendon. Forces are in tendon coordinates (N for spatial tendons). Validated by setProperties().

Public attributes

stiffness

double stiffness

Spring stiffness per unit tendon length (N/m for spatial tendons). Finite, nonnegative.

damping

double damping

Damping per unit tendon velocity (N s/m for spatial tendons). Finite, nonnegative.

springLower

double springLower

NaN/NaN captures initial length. Equal values define a rest length; unequal values define a spring deadband. [0, L] gives a pull-only cable. Outward infinite endpoints allow a one-sided spring: [L, +inf] only pushes.

springUpper

double springUpper

Upper end of the spring rest interval (see springLower).

lowerLimit

double lowerLimit

Minimum tendon length. If equal to upperLimit, the length is locked (bilateral limit).

upperLimit

double upperLimit

Maximum tendon length.

limitMargin

double limitMargin

One-sided limits are enforced at lowerLimit + limitMargin and upperLimit - limitMargin. Ignored for a locked length.

limitCompliance

double limitCompliance

Inverse stiffness; zero gives a hard limit.

frictionLoss

double frictionLoss

Dry-friction force threshold, including stiction.

frictionCompliance

double frictionCompliance

Compliance (inverse stiffness) of the friction-loss constraint; zero is rigid.

armature

double armature

Inertia added along the tendon length (kg for spatial tendons). Finite, nonnegative.

positionCorrection

double positionCorrection

Fraction of constraint error corrected per step.

actuationLower

double actuationLower

Lower bound of the drive (actuation) force.

actuationUpper

double actuationUpper

Upper bound of the drive (actuation) force.

width

double width

Radius used for visualization.

color

Vec<4> color

Visualization color (RGBA).