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Add inheritrange attribute to position and intvelocity actuators.

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PiperOrigin-RevId: 607650147
Change-Id: Ibc1846f89179786d4f93435c3924687b4c5d1432
This commit is contained in:
Yuval Tassa
2024-02-16 04:41:49 -08:00
committed by Copybara-Service
parent 5e353efaaf
commit 05150546e3
11 changed files with 318 additions and 113 deletions
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doc/XMLreference.rst
+25 -1
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@@ -5430,6 +5430,20 @@ This element has one custom attribute in addition to the common attributes:
Damping applied by the actuator.
When using this attribute, it is recommended to use the implicitfast or implicit :ref:`integrators<geIntegration>`.
.. _actuator-position-inheritrange:
:at:`inheritrange`: :at-val:`real, "0"`
Automatically set the actuator's :at:`ctrlrange` to match the transmission target's :at:`range`. The default value
means "disabled". A positive value :at-val:`X` sets the :at:`ctrlrange` around the midpoint of the target range,
scaled by :at-val:`X`. For example if the target joint has :at:`range` of :at-val:`[0, 1]`, then a value of
:at-val:`1.0` will set :at:`ctrlrange` to :at-val:`[0, 1]`; values of :at-val:`0.8` and :at-val:`1.2` will set the
:at:`ctrlrange` to :at-val:`[0.1, 0.9]` and :at-val:`[-0.1, 1.1]`, respectively. Values smaller than 1 are useful for
not hitting the limits; values larger than 1 are useful for maintaining control authority at the limits (being able
to push on them). This attribute is exclusive with :at:`ctrlrange` and available only for joint and tendon
transmissions which have :at:`range` defined. Note that while :at:`inheritrange` is available both as a
:ref:`position<actuator-position>` attribute and in the :ref:`default class<default-position-inheritrange>`,
saved XMLs always convert it to explicit :at:`ctrlrange` at the actuator.
.. _actuator-velocity:
:el-prefix:`actuator/` |-| **velocity** (*)
@@ -5578,10 +5592,16 @@ This element has one custom attribute in addition to the common attributes:
Damping applied by the actuator.
When using this attribute, it is recommended to use the implicitfast or implicit :ref:`integrators<geIntegration>`.
.. _actuator-intvelocity-inheritrange:
:at:`inheritrange`: :at-val:`real, "0"`
Identical to :ref:`position/inheritrange<actuator-position-inheritrange>`, but sets :at:`actrange` (which has the same
length semantics as the transmission target) rather than :at:`ctrlrange` (which has velocity semantics).
.. _actuator-damper:
:el-prefix:`actuator/` |-| **damper** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element is an active damper which produces a force proportional to both velocity and control: ``F = - kv * velocity
* control``, where ``kv`` must be nonnegative. :at:`ctrlrange` is required and must also be nonnegative.
@@ -7728,6 +7748,8 @@ tendon, slidersite, cranksite.
.. _default-position-ctrlrange:
.. _default-position-inheritrange:
.. _default-position-forcerange:
.. _default-position-gear:
@@ -7788,6 +7810,8 @@ refsite, tendon, slidersite, cranksite.
.. _default-intvelocity-actrange:
.. _default-intvelocity-inheritrange:
.. _default-intvelocity-gear:
.. _default-intvelocity-cranklength:
doc/XMLschema.rst
+15 -13
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@@ -774,13 +774,15 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<actuator-position-name>` | :ref:`class<actuator-position-class>` | :ref:`group<actuator-position-group>` | :ref:`ctrllimited<actuator-position-ctrllimited>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`forcelimited<actuator-position-forcelimited>` | :ref:`ctrlrange<actuator-position-ctrlrange>` | :ref:`forcerange<actuator-position-forcerange>` | :ref:`lengthrange<actuator-position-lengthrange>` | |
| | | | :ref:`forcelimited<actuator-position-forcelimited>` | :ref:`ctrlrange<actuator-position-ctrlrange>` | :ref:`inheritrange<actuator-position-inheritrange>` | :ref:`forcerange<actuator-position-forcerange>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`gear<actuator-position-gear>` | :ref:`cranklength<actuator-position-cranklength>` | :ref:`user<actuator-position-user>` | :ref:`joint<actuator-position-joint>` | |
| | | | :ref:`lengthrange<actuator-position-lengthrange>` | :ref:`gear<actuator-position-gear>` | :ref:`cranklength<actuator-position-cranklength>` | :ref:`user<actuator-position-user>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`jointinparent<actuator-position-jointinparent>` | :ref:`tendon<actuator-position-tendon>` | :ref:`slidersite<actuator-position-slidersite>` | :ref:`cranksite<actuator-position-cranksite>` | |
| | | | :ref:`joint<actuator-position-joint>` | :ref:`jointinparent<actuator-position-jointinparent>` | :ref:`tendon<actuator-position-tendon>` | :ref:`slidersite<actuator-position-slidersite>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`site<actuator-position-site>` | :ref:`refsite<actuator-position-refsite>` | :ref:`kp<actuator-position-kp>` | :ref:`kv<actuator-position-kv>` | |
| | | | :ref:`cranksite<actuator-position-cranksite>` | :ref:`site<actuator-position-site>` | :ref:`refsite<actuator-position-refsite>` | :ref:`kp<actuator-position-kp>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`kv<actuator-position-kv>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| actuator |br| |_| |L| | | .. table:: |
@@ -806,13 +808,13 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`forcelimited<actuator-intvelocity-forcelimited>` | :ref:`ctrlrange<actuator-intvelocity-ctrlrange>` | :ref:`forcerange<actuator-intvelocity-forcerange>` | :ref:`actrange<actuator-intvelocity-actrange>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`lengthrange<actuator-intvelocity-lengthrange>` | :ref:`gear<actuator-intvelocity-gear>` | :ref:`cranklength<actuator-intvelocity-cranklength>` | :ref:`user<actuator-intvelocity-user>` | |
| | | | :ref:`inheritrange<actuator-intvelocity-inheritrange>` | :ref:`lengthrange<actuator-intvelocity-lengthrange>` | :ref:`gear<actuator-intvelocity-gear>` | :ref:`cranklength<actuator-intvelocity-cranklength>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`joint<actuator-intvelocity-joint>` | :ref:`jointinparent<actuator-intvelocity-jointinparent>` | :ref:`tendon<actuator-intvelocity-tendon>` | :ref:`slidersite<actuator-intvelocity-slidersite>` | |
| | | | :ref:`user<actuator-intvelocity-user>` | :ref:`joint<actuator-intvelocity-joint>` | :ref:`jointinparent<actuator-intvelocity-jointinparent>` | :ref:`tendon<actuator-intvelocity-tendon>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`cranksite<actuator-intvelocity-cranksite>` | :ref:`site<actuator-intvelocity-site>` | :ref:`refsite<actuator-intvelocity-refsite>` | :ref:`kp<actuator-intvelocity-kp>` | |
| | | | :ref:`slidersite<actuator-intvelocity-slidersite>` | :ref:`cranksite<actuator-intvelocity-cranksite>` | :ref:`site<actuator-intvelocity-site>` | :ref:`refsite<actuator-intvelocity-refsite>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`kv<actuator-intvelocity-kv>` | | | | |
| | | | :ref:`kp<actuator-intvelocity-kp>` | :ref:`kv<actuator-intvelocity-kv>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| actuator |br| |_| |L| | | .. table:: |
@@ -1440,11 +1442,11 @@
| :ref:`position | ? | :class: mjcf-attributes |
| <default-position>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`ctrllimited<default-position-ctrllimited>` | :ref:`forcelimited<default-position-forcelimited>` | :ref:`ctrlrange<default-position-ctrlrange>` | :ref:`forcerange<default-position-forcerange>` | |
| | | | :ref:`ctrllimited<default-position-ctrllimited>` | :ref:`forcelimited<default-position-forcelimited>` | :ref:`ctrlrange<default-position-ctrlrange>` | :ref:`inheritrange<default-position-inheritrange>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`gear<default-position-gear>` | :ref:`cranklength<default-position-cranklength>` | :ref:`user<default-position-user>` | :ref:`group<default-position-group>` | |
| | | | :ref:`forcerange<default-position-forcerange>` | :ref:`gear<default-position-gear>` | :ref:`cranklength<default-position-cranklength>` | :ref:`user<default-position-user>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`kp<default-position-kp>` | :ref:`kv<default-position-kv>` | | | |
| | | | :ref:`group<default-position-group>` | :ref:`kp<default-position-kp>` | :ref:`kv<default-position-kv>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
@@ -1464,9 +1466,9 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`ctrllimited<default-intvelocity-ctrllimited>` | :ref:`forcelimited<default-intvelocity-forcelimited>` | :ref:`ctrlrange<default-intvelocity-ctrlrange>` | :ref:`forcerange<default-intvelocity-forcerange>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`actrange<default-intvelocity-actrange>` | :ref:`gear<default-intvelocity-gear>` | :ref:`cranklength<default-intvelocity-cranklength>` | :ref:`user<default-intvelocity-user>` | |
| | | | :ref:`actrange<default-intvelocity-actrange>` | :ref:`inheritrange<default-intvelocity-inheritrange>` | :ref:`gear<default-intvelocity-gear>` | :ref:`cranklength<default-intvelocity-cranklength>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`group<default-intvelocity-group>` | :ref:`kp<default-intvelocity-kp>` | :ref:`kv<default-intvelocity-kv>` | | |
| | | | :ref:`user<default-intvelocity-user>` | :ref:`group<default-intvelocity-group>` | :ref:`kp<default-intvelocity-kp>` | :ref:`kv<default-intvelocity-kv>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
doc/changelog.rst
+13 -6
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@@ -5,20 +5,27 @@ Changelog
Upcoming version (not yet released)
-----------------------------------
General
^^^^^^^
1. Added the :at:`inheritrange` attribute to :ref:`position<actuator-position>` and
:ref:`intvelocity<actuator-intvelocity>` actuators, allowing convenient setting of the actuator's
:at:`ctrlrange` or :at:`actrange` (respectively), according to the range of the transmission
target (joint or tendon). See :ref:`position/inheritrange<actuator-position-inheritrange>` for
details.
MJX
^^^
1. Improved performance of getting and putting device data.
2. Improved performance of getting and putting device data.
- Use ``tobytes()`` for numpy array serialization, which is orders of magnitude faster than converting to tuples.
- Avoid reallocating host ``mjData`` arrays when array shapes are unchanged.
- Speed up calculation of ``mjx.ncon`` for models with many geoms.
- Avoid calling ``mjx.ncon`` in ``mjx.get_data_into`` when ``nc`` can be derived from ``mjx.Data``.
2. Fixed a bug in ``mjx-viewer`` that prevented it from running. Updated ``mjx-viewer`` to use newer
3. Fixed a bug in ``mjx-viewer`` that prevented it from running. Updated ``mjx-viewer`` to use newer
``mjx.get_data_into`` function call.
3. Fixed a bug in ``mjx.euler`` that applied incorrect damping when using dense mass matrices.
4. Fixed a bug in ``mjx.solve`` that was causing slow convergence when using ``mjSOL_NEWTON`` in :ref:`mjtSolver`.
5. Added support for :ref:`mjOption.impratio<mjOption>` to ``mjx.Model``.
4. Fixed a bug in ``mjx.euler`` that applied incorrect damping when using dense mass matrices.
5. Fixed a bug in ``mjx.solve`` that was causing slow convergence when using ``mjSOL_NEWTON`` in :ref:`mjtSolver`.
6. Added support for :ref:`mjOption.impratio<mjOption>` to ``mjx.Model``.
Version 3.1.2 (February 05, 2024)
-----------------------------------
doc/conf.py
+2 -2
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@@ -118,7 +118,7 @@ SHARED_CSS_VARIABLES = {
html_theme_options = {
'light_css_variables': {
'font-stack--monospace': 'Inconsolata,Consolas,ui-monospace,monospace',
'at-color': '#bc103e',
'at-color': '#830b2b',
'at-val-color': '#bc103e',
'body-color': '#14234b',
'color-highlight-on-target': '#e5e8ed',
@@ -131,7 +131,7 @@ html_theme_options = {
'wy-nav-side-background-color': '#0053d6',
},
'dark_css_variables': {
'at-color': '#ff95a6',
'at-color': '#ffaab7',
'at-val-color': '#ff95a6',
'body-color': '#14234b',
'color-admonition-background': '#1e1e21',
src/user/user_api.h
+1
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@@ -559,6 +559,7 @@ typedef struct _mjmActuator { // actuator specification
mjString slidersite; // site defining cylinder, for slider-crank
double cranklength; // crank length, for slider-crank
double lengthrange[2]; // transmission length range
double inheritrange; // automatic range setting for position and intvelocity
// input/output clamping
int ctrllimited; // are control limits defined (mjtLimited)
src/user/user_objects.cc
+123 -79
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@@ -4272,85 +4272,6 @@ void mjCActuator::Compile(void) {
}
userdata_.resize(model->nuser_actuator);
// if limited is auto, check for inconsistency wrt to autolimits
if (forcelimited == mjLIMITED_AUTO) {
bool hasrange = !(forcerange[0]==0 && forcerange[1]==0);
checklimited(this, model->autolimits, "actuator", "force", forcelimited, hasrange);
}
if (ctrllimited == mjLIMITED_AUTO) {
bool hasrange = !(ctrlrange[0]==0 && ctrlrange[1]==0);
checklimited(this, model->autolimits, "actuator", "ctrl", ctrllimited, hasrange);
}
if (actlimited == mjLIMITED_AUTO) {
bool hasrange = !(actrange[0]==0 && actrange[1]==0);
checklimited(this, model->autolimits, "actuator", "act", actlimited, hasrange);
}
// check limits
if (forcerange[0]>=forcerange[1] && is_forcelimited()) {
throw mjCError(this, "invalid force range for actuator '%s' (id = %d)", name.c_str(), id);
}
if (ctrlrange[0]>=ctrlrange[1] && is_ctrllimited()) {
throw mjCError(this, "invalid control range for actuator '%s' (id = %d)", name.c_str(), id);
}
if (actrange[0]>=actrange[1] && is_actlimited()) {
throw mjCError(this, "invalid actrange for actuator '%s' (id = %d)", name.c_str(), id);
}
if (is_actlimited() && dyntype == mjDYN_NONE) {
throw mjCError(this, "actrange specified but dyntype is 'none' in actuator '%s' (id = %d)",
name.c_str(), id);
}
// check and set actdim
if (actdim > 1 && dyntype != mjDYN_USER) {
throw mjCError(this, "actdim > 1 is only allowed for dyntype 'user' in actuator '%s' (id = %d)",
name.c_str(), id);
}
if (actdim == 1 && dyntype == mjDYN_NONE) {
throw mjCError(this, "invalid actdim 1 in stateless actuator '%s' (id = %d)", name.c_str(), id);
}
if (actdim == 0 && dyntype != mjDYN_NONE) {
throw mjCError(this, "invalid actdim 0 in stateful actuator '%s' (id = %d)", name.c_str(), id);
}
// set actdim
if (actdim < 0) {
actdim = (dyntype != mjDYN_NONE);
}
// check muscle parameters
for (int i=0; i<2; i++) {
// select gain or bias
double* prm = NULL;
if (i==0 && gaintype==mjGAIN_MUSCLE) {
prm = gainprm;
} else if (i==1 && biastype==mjBIAS_MUSCLE) {
prm = biasprm;
}
// nothing to check
if (!prm) {
continue;
}
// range
if (prm[0]>=prm[1]) {
throw mjCError(this, "range[0]<range[1] required in muscle '%s' (id = %d)", name.c_str(), id);
}
// lmin<1<lmax
if (prm[4]>=1 || prm[5]<=1) {
throw mjCError(this, "lmin<1<lmax required in muscle '%s' (id = %d)", name.c_str(), id);
}
// scale, vmax, fpmax, fvmax>0
if (prm[3]<=0 || prm[6]<=0 || prm[7]<=0 || prm[8]<=0) {
throw mjCError(this,
"positive scale, vmax, fpmax, fvmax required in muscle '%s' (id = %d)",
name.c_str(), id);
}
}
// check for missing target name
if (target_.empty()) {
throw mjCError(this,
@@ -4434,6 +4355,129 @@ void mjCActuator::Compile(void) {
trnid[0] = ptarget->id;
}
// handle inheritrange
if (gaintype == mjGAIN_FIXED && biastype == mjBIAS_AFFINE &&
gainprm[0] == -biasprm[1] && inheritrange > 0) {
// semantic of actuator is the same as transmission, inheritrange is applicable
double* range;
if (dyntype == mjDYN_NONE) {
// position actuator
range = ctrlrange;
} else if (dyntype == mjDYN_INTEGRATOR) {
// intvelocity actuator
range = actrange;
} else {
throw mjCError(this, "inheritrange only available for position "
"and intvelocity actuators '%s' (id = %d)", name.c_str(), id);
}
const double* target_range;
if (trntype == mjTRN_JOINT) {
pjnt = (mjCJoint*) ptarget;
if (pjnt->spec.type != mjJNT_HINGE && pjnt->spec.type != mjJNT_SLIDE) {
throw mjCError(this, "inheritrange can only be used with hinge and slide joints, "
"actuator '%s' (id = %d)", name.c_str(), id);
}
target_range = pjnt->get_range();
} else if (trntype == mjTRN_TENDON) {
mjCTendon* pten = (mjCTendon*) ptarget;
target_range = pten->get_range();
} else {
throw mjCError(this, "inheritrange can only be used with joint and tendon transmission, "
"actuator '%s' (id = %d)", name.c_str(), id);
}
if (target_range[0] == target_range[1]) {
throw mjCError(this, "inheritrange used but target '%s' has no range defined in actuator %d",
target_.c_str(), id);
}
// set range automatically
double mean = 0.5*(target_range[1] + target_range[0]);
double radius = 0.5*(target_range[1] - target_range[0]) * inheritrange;
range[0] = mean - radius;
range[1] = mean + radius;
}
// if limited is auto, check for inconsistency wrt to autolimits
if (forcelimited == mjLIMITED_AUTO) {
bool hasrange = !(forcerange[0]==0 && forcerange[1]==0);
checklimited(this, model->autolimits, "actuator", "force", forcelimited, hasrange);
}
if (ctrllimited == mjLIMITED_AUTO) {
bool hasrange = !(ctrlrange[0]==0 && ctrlrange[1]==0);
checklimited(this, model->autolimits, "actuator", "ctrl", ctrllimited, hasrange);
}
if (actlimited == mjLIMITED_AUTO) {
bool hasrange = !(actrange[0]==0 && actrange[1]==0);
checklimited(this, model->autolimits, "actuator", "act", actlimited, hasrange);
}
// check limits
if (forcerange[0]>=forcerange[1] && is_forcelimited()) {
throw mjCError(this, "invalid force range for actuator '%s' (id = %d)", name.c_str(), id);
}
if (ctrlrange[0]>=ctrlrange[1] && is_ctrllimited()) {
throw mjCError(this, "invalid control range for actuator '%s' (id = %d)", name.c_str(), id);
}
if (actrange[0]>=actrange[1] && is_actlimited()) {
throw mjCError(this, "invalid actrange for actuator '%s' (id = %d)", name.c_str(), id);
}
if (is_actlimited() && dyntype == mjDYN_NONE) {
throw mjCError(this, "actrange specified but dyntype is 'none' in actuator '%s' (id = %d)",
name.c_str(), id);
}
// check and set actdim
if (actdim > 1 && dyntype != mjDYN_USER) {
throw mjCError(this, "actdim > 1 is only allowed for dyntype 'user' in actuator '%s' (id = %d)",
name.c_str(), id);
}
if (actdim == 1 && dyntype == mjDYN_NONE) {
throw mjCError(this, "invalid actdim 1 in stateless actuator '%s' (id = %d)", name.c_str(), id);
}
if (actdim == 0 && dyntype != mjDYN_NONE) {
throw mjCError(this, "invalid actdim 0 in stateful actuator '%s' (id = %d)", name.c_str(), id);
}
// set actdim
if (actdim < 0) {
actdim = (dyntype != mjDYN_NONE);
}
// check muscle parameters
for (int i=0; i<2; i++) {
// select gain or bias
double* prm = NULL;
if (i==0 && gaintype==mjGAIN_MUSCLE) {
prm = gainprm;
} else if (i==1 && biastype==mjBIAS_MUSCLE) {
prm = biasprm;
}
// nothing to check
if (!prm) {
continue;
}
// range
if (prm[0]>=prm[1]) {
throw mjCError(this, "range[0]<range[1] required in muscle '%s' (id = %d)", name.c_str(), id);
}
// lmin<1<lmax
if (prm[4]>=1 || prm[5]<=1) {
throw mjCError(this, "lmin<1<lmax required in muscle '%s' (id = %d)", name.c_str(), id);
}
// scale, vmax, fpmax, fvmax>0
if (prm[3]<=0 || prm[6]<=0 || prm[7]<=0 || prm[8]<=0) {
throw mjCError(this,
"positive scale, vmax, fpmax, fvmax required in muscle '%s' (id = %d)",
name.c_str(), id);
}
}
// plugin
if (plugin.active) {
if (plugin_name.empty() && plugin_instance_name.empty()) {
src/user/user_objects.h
+2
View File
@@ -336,6 +336,7 @@ class mjCJoint : public mjCBase, private mjmJoint {
// used by mjXWriter and mjCModel
const std::vector<double>& get_userdata() { return userdata_; }
const double* get_range() { return range; }
bool is_limited() const;
bool is_actfrclimited() const;
@@ -1102,6 +1103,7 @@ class mjCTendon : public mjCBase, private mjmTendon {
// used by mjXWriter and mjCModel
const std::vector<double>& get_userdata() { return userdata_; }
const double* get_range() { return range; }
void CopyFromSpec();
void PointToLocal();
src/xml/xml_native_reader.cc
+21 -9
View File
@@ -168,14 +168,14 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
"dyntype", "gaintype", "biastype", "dynprm", "gainprm", "biasprm", "actearly"},
{"motor", "?", "8", "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"gear", "cranklength", "user", "group"},
{"position", "?", "10", "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"gear", "cranklength", "user", "group",
{"position", "?", "11", "ctrllimited", "forcelimited", "ctrlrange", "inheritrange",
"forcerange", "gear", "cranklength", "user", "group",
"kp", "kv"},
{"velocity", "?", "9", "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"gear", "cranklength", "user", "group",
"kv"},
{"intvelocity", "?", "11", "ctrllimited", "forcelimited",
"ctrlrange", "forcerange", "actrange",
{"intvelocity", "?", "12", "ctrllimited", "forcelimited",
"ctrlrange", "forcerange", "actrange", "inheritrange",
"gear", "cranklength", "user", "group",
"kp", "kv"},
{"damper", "?", "8", "forcelimited", "ctrlrange", "forcerange",
@@ -381,8 +381,8 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
"ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"lengthrange", "gear", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite"},
{"position", "*", "20", "name", "class", "group",
"ctrllimited", "forcelimited", "ctrlrange", "forcerange",
{"position", "*", "21", "name", "class", "group",
"ctrllimited", "forcelimited", "ctrlrange", "inheritrange", "forcerange",
"lengthrange", "gear", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
"kp", "kv"},
@@ -391,9 +391,9 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
"lengthrange", "gear", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
"kv"},
{"intvelocity", "*", "21", "name", "class", "group",
{"intvelocity", "*", "22", "name", "class", "group",
"ctrllimited", "forcelimited",
"ctrlrange", "forcerange", "actrange", "lengthrange",
"ctrlrange", "forcerange", "actrange", "inheritrange", "lengthrange",
"gear", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
"kp", "kv"},
@@ -2085,6 +2085,19 @@ void mjXReader::OneActuator(XMLElement* elem, mjmActuator* pact) {
pact->biasprm[2] *= -1;
}
ReadAttr(elem, "inheritrange", 1, &pact->inheritrange, text);
if (pact->inheritrange > 0) {
if (type == "position") {
if (pact->ctrlrange[0] || pact->ctrlrange[1]) {
throw mjXError(elem, "ctrlrange and inheritrange cannot both be defined");
}
} else {
if (pact->actrange[0] || pact->actrange[1]) {
throw mjXError(elem, "actrange and inheritrange cannot both be defined");
}
}
}
// implied parameters
pact->gaintype = mjGAIN_FIXED;
pact->biastype = mjBIAS_AFFINE;
@@ -2122,7 +2135,6 @@ void mjXReader::OneActuator(XMLElement* elem, mjmActuator* pact) {
pact->gainprm[2] = -pact->gainprm[2];
// require nonnegative range
ReadAttr(elem, "ctrlrange", 2, pact->ctrlrange, text);
if (pact->ctrlrange[0]<0 || pact->ctrlrange[1]<0) {
throw mjXError(elem, "damper control range cannot be negative");
}
test/user/user_objects_test.cc
+49
View File
@@ -909,6 +909,55 @@ TEST_F(ActuatorTest, ActuatorOrderDoesntMatter) {
mj_deleteModel(model1);
}
// ------------- test inheritrange attribute ----------------------------------
using InheritrangeTest = MujocoTest;
TEST_F(InheritrangeTest, ErrorIfTargetMissingRange) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint name="jnt"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<position joint="jnt" inheritrange="1"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("target 'jnt' has no range defined"));
}
TEST_F(InheritrangeTest, WorksForDegrees) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint name="jnt" range="90 180"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<position joint="jnt" inheritrange="1"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_DOUBLE_EQ(model->actuator_ctrlrange[0], mjPI/2);
EXPECT_DOUBLE_EQ(model->actuator_ctrlrange[1], mjPI);
mj_deleteModel(model);
}
// ------------- test actlimited and actrange fields ---------------------------
test/xml/xml_native_reader_test.cc
+7 -3
View File
@@ -1065,10 +1065,10 @@ TEST_F(ActuatorParseTest, PositionIntvelocityVelocityDefaultsPropagate) {
<mujoco>
<default>
<default class="position">
<position kp="3" kv="4"/>
<position kp="3" kv="4" inheritrange="2"/>
</default>
<default class="intvelocity">
<intvelocity kp="5" kv="6" actrange="-1 1"/>
<intvelocity kp="5" kv="6" inheritrange="0.5"/>
</default>
<default class="velocity">
<velocity kv="7"/>
@@ -1077,7 +1077,7 @@ TEST_F(ActuatorParseTest, PositionIntvelocityVelocityDefaultsPropagate) {
<worldbody>
<body>
<geom size="1"/>
<joint name="jnt" type="slide" axis="1 0 0"/>
<joint name="jnt" type="slide" axis="1 0 0" range="0 2"/>
</body>
</worldbody>
<actuator>
@@ -1107,6 +1107,10 @@ TEST_F(ActuatorParseTest, PositionIntvelocityVelocityDefaultsPropagate) {
EXPECT_EQ(model->actuator_gainprm[i*mjNGAIN + j], 0.0);
}
}
EXPECT_EQ(model->actuator_ctrlrange[0*2 + 0], -1.0);
EXPECT_EQ(model->actuator_ctrlrange[0*2 + 1], 3.0);
EXPECT_EQ(model->actuator_actrange[1*2 + 0], 0.5);
EXPECT_EQ(model->actuator_actrange[1*2 + 1], 1.5);
mj_deleteModel(model);
}
test/xml/xml_native_writer_test.cc
+60
View File
@@ -1025,6 +1025,66 @@ TEST_F(XMLWriterTest, TrimsDefaults) {
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, InheritrangeSavedAsRange) {
static constexpr char xml[] = R"(
<mujoco>
<compiler angle="radian"/>
<worldbody>
<body>
<geom size="1"/>
<joint name="slide" type="slide" range="0 2"/>
</body>
<body>
<geom size="1"/>
<joint name="hinge" type="hinge" range="-2 0"/>
</body>
</worldbody>
<actuator>
<position joint="slide" inheritrange="2"/>
<intvelocity joint="hinge" inheritrange="0.5"/>
</actuator>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("ctrlrange=\"-1 3\""));
EXPECT_THAT(saved_xml, HasSubstr("actrange=\"-1.5 -0.5\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, InheritedInheritrangeSavedAsRange) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<default class="position">
<position kp="3" kv="4" inheritrange="2"/>
</default>
<default class="intvelocity">
<intvelocity kp="5" kv="6" inheritrange="0.5"/>
</default>
</default>
<worldbody>
<body>
<geom size="1"/>
<joint name="jnt" type="slide" range="0 2"/>
</body>
</worldbody>
<actuator>
<position joint="jnt" class="position"/>
<intvelocity joint="jnt" class="intvelocity"/>
</actuator>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("inheritrange")));
EXPECT_THAT(saved_xml, HasSubstr("ctrlrange=\"-1 3\""));
EXPECT_THAT(saved_xml, HasSubstr("actrange=\"0.5 1.5\""));
mj_deleteModel(model);
}
// check that no precision is lost when saving XMLs with FullFloatPrecision
TEST_F(XMLWriterTest, SetPrecision) {
static constexpr char xml[] = R"(