A way to automatically detect tendon skipping?

[studywolf]

Intro

Hi!

I am a researcher at EPFL working on mouse arm modeling.

My setup

Mujoco 2.3.1
Ubuntu 22.04

My question

I'm trying to devise a way to detect when tendons skip from one side of their deformation object to the other.
I tried recording the tendon lengths and then looking at the derivative, thinking that sudden changes in tendon length would correlate with skipping from one side to the other, but unfortunately this isn't the case.
Is there another tendon variable that I could record during movements and analyze after to alert me when there is a tendon skip? Identifying tendon skips visually is far from ideal!
Thanks!

Minimal model and/or code that explain my question

No response

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.

[yuvaltassa]

You want to look at mjData.wrap_xpos. wrapadr and wrapnum tell you where your tendon starts and ends.