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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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src/xml/xml_native_reader.cc
+21 -9
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@@ -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");
}