Add inheritrange attribute to position and intvelocity actuators.
PiperOrigin-RevId: 607650147 Change-Id: Ibc1846f89179786d4f93435c3924687b4c5d1432
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
5e353efaaf
commit
05150546e3
+25
-1
@@ -5430,6 +5430,20 @@ This element has one custom attribute in addition to the common attributes:
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Damping applied by the actuator.
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When using this attribute, it is recommended to use the implicitfast or implicit :ref:`integrators<geIntegration>`.
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.. _actuator-position-inheritrange:
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:at:`inheritrange`: :at-val:`real, "0"`
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Automatically set the actuator's :at:`ctrlrange` to match the transmission target's :at:`range`. The default value
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means "disabled". A positive value :at-val:`X` sets the :at:`ctrlrange` around the midpoint of the target range,
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scaled by :at-val:`X`. For example if the target joint has :at:`range` of :at-val:`[0, 1]`, then a value of
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: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
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:at:`ctrlrange` to :at-val:`[0.1, 0.9]` and :at-val:`[-0.1, 1.1]`, respectively. Values smaller than 1 are useful for
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not hitting the limits; values larger than 1 are useful for maintaining control authority at the limits (being able
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to push on them). This attribute is exclusive with :at:`ctrlrange` and available only for joint and tendon
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transmissions which have :at:`range` defined. Note that while :at:`inheritrange` is available both as a
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:ref:`position<actuator-position>` attribute and in the :ref:`default class<default-position-inheritrange>`,
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saved XMLs always convert it to explicit :at:`ctrlrange` at the actuator.
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.. _actuator-velocity:
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:el-prefix:`actuator/` |-| **velocity** (*)
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@@ -5578,10 +5592,16 @@ This element has one custom attribute in addition to the common attributes:
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Damping applied by the actuator.
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When using this attribute, it is recommended to use the implicitfast or implicit :ref:`integrators<geIntegration>`.
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.. _actuator-intvelocity-inheritrange:
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:at:`inheritrange`: :at-val:`real, "0"`
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Identical to :ref:`position/inheritrange<actuator-position-inheritrange>`, but sets :at:`actrange` (which has the same
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length semantics as the transmission target) rather than :at:`ctrlrange` (which has velocity semantics).
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.. _actuator-damper:
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:el-prefix:`actuator/` |-| **damper** (*)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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This element is an active damper which produces a force proportional to both velocity and control: ``F = - kv * velocity
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* control``, where ``kv`` must be nonnegative. :at:`ctrlrange` is required and must also be nonnegative.
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@@ -7728,6 +7748,8 @@ tendon, slidersite, cranksite.
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.. _default-position-ctrlrange:
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.. _default-position-inheritrange:
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.. _default-position-forcerange:
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.. _default-position-gear:
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@@ -7788,6 +7810,8 @@ refsite, tendon, slidersite, cranksite.
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.. _default-intvelocity-actrange:
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.. _default-intvelocity-inheritrange:
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.. _default-intvelocity-gear:
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.. _default-intvelocity-cranklength:
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+15
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@@ -774,13 +774,15 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`name<actuator-position-name>` | :ref:`class<actuator-position-class>` | :ref:`group<actuator-position-group>` | :ref:`ctrllimited<actuator-position-ctrllimited>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`forcelimited<actuator-position-forcelimited>` | :ref:`ctrlrange<actuator-position-ctrlrange>` | :ref:`forcerange<actuator-position-forcerange>` | :ref:`lengthrange<actuator-position-lengthrange>` | |
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| | | | :ref:`forcelimited<actuator-position-forcelimited>` | :ref:`ctrlrange<actuator-position-ctrlrange>` | :ref:`inheritrange<actuator-position-inheritrange>` | :ref:`forcerange<actuator-position-forcerange>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`gear<actuator-position-gear>` | :ref:`cranklength<actuator-position-cranklength>` | :ref:`user<actuator-position-user>` | :ref:`joint<actuator-position-joint>` | |
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| | | | :ref:`lengthrange<actuator-position-lengthrange>` | :ref:`gear<actuator-position-gear>` | :ref:`cranklength<actuator-position-cranklength>` | :ref:`user<actuator-position-user>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`jointinparent<actuator-position-jointinparent>` | :ref:`tendon<actuator-position-tendon>` | :ref:`slidersite<actuator-position-slidersite>` | :ref:`cranksite<actuator-position-cranksite>` | |
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| | | | :ref:`joint<actuator-position-joint>` | :ref:`jointinparent<actuator-position-jointinparent>` | :ref:`tendon<actuator-position-tendon>` | :ref:`slidersite<actuator-position-slidersite>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`site<actuator-position-site>` | :ref:`refsite<actuator-position-refsite>` | :ref:`kp<actuator-position-kp>` | :ref:`kv<actuator-position-kv>` | |
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| | | | :ref:`cranksite<actuator-position-cranksite>` | :ref:`site<actuator-position-site>` | :ref:`refsite<actuator-position-refsite>` | :ref:`kp<actuator-position-kp>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`kv<actuator-position-kv>` | | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| actuator |br| |_| |L| | | .. table:: |
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@@ -806,13 +808,13 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`forcelimited<actuator-intvelocity-forcelimited>` | :ref:`ctrlrange<actuator-intvelocity-ctrlrange>` | :ref:`forcerange<actuator-intvelocity-forcerange>` | :ref:`actrange<actuator-intvelocity-actrange>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`lengthrange<actuator-intvelocity-lengthrange>` | :ref:`gear<actuator-intvelocity-gear>` | :ref:`cranklength<actuator-intvelocity-cranklength>` | :ref:`user<actuator-intvelocity-user>` | |
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| | | | :ref:`inheritrange<actuator-intvelocity-inheritrange>` | :ref:`lengthrange<actuator-intvelocity-lengthrange>` | :ref:`gear<actuator-intvelocity-gear>` | :ref:`cranklength<actuator-intvelocity-cranklength>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`joint<actuator-intvelocity-joint>` | :ref:`jointinparent<actuator-intvelocity-jointinparent>` | :ref:`tendon<actuator-intvelocity-tendon>` | :ref:`slidersite<actuator-intvelocity-slidersite>` | |
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| | | | :ref:`user<actuator-intvelocity-user>` | :ref:`joint<actuator-intvelocity-joint>` | :ref:`jointinparent<actuator-intvelocity-jointinparent>` | :ref:`tendon<actuator-intvelocity-tendon>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`cranksite<actuator-intvelocity-cranksite>` | :ref:`site<actuator-intvelocity-site>` | :ref:`refsite<actuator-intvelocity-refsite>` | :ref:`kp<actuator-intvelocity-kp>` | |
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| | | | :ref:`slidersite<actuator-intvelocity-slidersite>` | :ref:`cranksite<actuator-intvelocity-cranksite>` | :ref:`site<actuator-intvelocity-site>` | :ref:`refsite<actuator-intvelocity-refsite>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`kv<actuator-intvelocity-kv>` | | | | |
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| | | | :ref:`kp<actuator-intvelocity-kp>` | :ref:`kv<actuator-intvelocity-kv>` | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| actuator |br| |_| |L| | | .. table:: |
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@@ -1440,11 +1442,11 @@
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| :ref:`position | ? | :class: mjcf-attributes |
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| <default-position>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`ctrllimited<default-position-ctrllimited>` | :ref:`forcelimited<default-position-forcelimited>` | :ref:`ctrlrange<default-position-ctrlrange>` | :ref:`forcerange<default-position-forcerange>` | |
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| | | | :ref:`ctrllimited<default-position-ctrllimited>` | :ref:`forcelimited<default-position-forcelimited>` | :ref:`ctrlrange<default-position-ctrlrange>` | :ref:`inheritrange<default-position-inheritrange>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`gear<default-position-gear>` | :ref:`cranklength<default-position-cranklength>` | :ref:`user<default-position-user>` | :ref:`group<default-position-group>` | |
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| | | | :ref:`forcerange<default-position-forcerange>` | :ref:`gear<default-position-gear>` | :ref:`cranklength<default-position-cranklength>` | :ref:`user<default-position-user>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`kp<default-position-kp>` | :ref:`kv<default-position-kv>` | | | |
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| | | | :ref:`group<default-position-group>` | :ref:`kp<default-position-kp>` | :ref:`kv<default-position-kv>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| default |br| |_| |L| | | .. table:: |
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@@ -1464,9 +1466,9 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`ctrllimited<default-intvelocity-ctrllimited>` | :ref:`forcelimited<default-intvelocity-forcelimited>` | :ref:`ctrlrange<default-intvelocity-ctrlrange>` | :ref:`forcerange<default-intvelocity-forcerange>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`actrange<default-intvelocity-actrange>` | :ref:`gear<default-intvelocity-gear>` | :ref:`cranklength<default-intvelocity-cranklength>` | :ref:`user<default-intvelocity-user>` | |
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| | | | :ref:`actrange<default-intvelocity-actrange>` | :ref:`inheritrange<default-intvelocity-inheritrange>` | :ref:`gear<default-intvelocity-gear>` | :ref:`cranklength<default-intvelocity-cranklength>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`group<default-intvelocity-group>` | :ref:`kp<default-intvelocity-kp>` | :ref:`kv<default-intvelocity-kv>` | | |
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| | | | :ref:`user<default-intvelocity-user>` | :ref:`group<default-intvelocity-group>` | :ref:`kp<default-intvelocity-kp>` | :ref:`kv<default-intvelocity-kv>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| default |br| |_| |L| | | .. table:: |
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+13
-6
@@ -5,20 +5,27 @@ Changelog
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Upcoming version (not yet released)
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-----------------------------------
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General
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^^^^^^^
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1. Added the :at:`inheritrange` attribute to :ref:`position<actuator-position>` and
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:ref:`intvelocity<actuator-intvelocity>` actuators, allowing convenient setting of the actuator's
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:at:`ctrlrange` or :at:`actrange` (respectively), according to the range of the transmission
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target (joint or tendon). See :ref:`position/inheritrange<actuator-position-inheritrange>` for
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details.
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MJX
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^^^
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1. Improved performance of getting and putting device data.
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2. Improved performance of getting and putting device data.
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- Use ``tobytes()`` for numpy array serialization, which is orders of magnitude faster than converting to tuples.
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- Avoid reallocating host ``mjData`` arrays when array shapes are unchanged.
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- Speed up calculation of ``mjx.ncon`` for models with many geoms.
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- Avoid calling ``mjx.ncon`` in ``mjx.get_data_into`` when ``nc`` can be derived from ``mjx.Data``.
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2. Fixed a bug in ``mjx-viewer`` that prevented it from running. Updated ``mjx-viewer`` to use newer
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3. Fixed a bug in ``mjx-viewer`` that prevented it from running. Updated ``mjx-viewer`` to use newer
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``mjx.get_data_into`` function call.
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3. Fixed a bug in ``mjx.euler`` that applied incorrect damping when using dense mass matrices.
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4. Fixed a bug in ``mjx.solve`` that was causing slow convergence when using ``mjSOL_NEWTON`` in :ref:`mjtSolver`.
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5. Added support for :ref:`mjOption.impratio<mjOption>` to ``mjx.Model``.
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4. Fixed a bug in ``mjx.euler`` that applied incorrect damping when using dense mass matrices.
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5. Fixed a bug in ``mjx.solve`` that was causing slow convergence when using ``mjSOL_NEWTON`` in :ref:`mjtSolver`.
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6. Added support for :ref:`mjOption.impratio<mjOption>` to ``mjx.Model``.
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Version 3.1.2 (February 05, 2024)
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-----------------------------------
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+2
-2
@@ -118,7 +118,7 @@ SHARED_CSS_VARIABLES = {
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html_theme_options = {
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'light_css_variables': {
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'font-stack--monospace': 'Inconsolata,Consolas,ui-monospace,monospace',
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'at-color': '#bc103e',
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'at-color': '#830b2b',
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'at-val-color': '#bc103e',
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'body-color': '#14234b',
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'color-highlight-on-target': '#e5e8ed',
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@@ -131,7 +131,7 @@ html_theme_options = {
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'wy-nav-side-background-color': '#0053d6',
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},
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'dark_css_variables': {
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'at-color': '#ff95a6',
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'at-color': '#ffaab7',
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'at-val-color': '#ff95a6',
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'body-color': '#14234b',
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'color-admonition-background': '#1e1e21',
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