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Add visualisation flag for activations.

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- Added illustrative model: `test/engine/testdata/activation.xml`

PiperOrigin-RevId: 453628961
Change-Id: I061ec3d17e57c6baffa0fe446a0be3564c44519d
This commit is contained in:
Alessio Quaglino
2022-06-08 02:18:27 -07:00
committed by Copybara-Service
parent 736e0b391b
commit 066367fcc8
5 changed files with 96 additions and 40 deletions
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include/mujoco/mjvisualize.h
+2 -1
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@@ -99,8 +99,9 @@ typedef enum mjtVisFlag_ { // flags enabling model element visualization
mjVIS_CONVEXHULL = 0, // mesh convex hull
mjVIS_TEXTURE, // textures
mjVIS_JOINT, // joints
mjVIS_ACTUATOR, // actuators
mjVIS_CAMERA, // cameras
mjVIS_ACTUATOR, // actuators
mjVIS_ACTIVATION, // activations
mjVIS_LIGHT, // lights
mjVIS_TENDON, // tendons
mjVIS_RANGEFINDER, // rangefinder sensors
introspect/enums.py
+21 -20
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@@ -584,26 +584,27 @@ ENUMS: Mapping[str, EnumDecl] = dict([
('mjVIS_CONVEXHULL', 0),
('mjVIS_TEXTURE', 1),
('mjVIS_JOINT', 2),
('mjVIS_ACTUATOR', 3),
('mjVIS_CAMERA', 4),
('mjVIS_LIGHT', 5),
('mjVIS_TENDON', 6),
('mjVIS_RANGEFINDER', 7),
('mjVIS_CONSTRAINT', 8),
('mjVIS_INERTIA', 9),
('mjVIS_SCLINERTIA', 10),
('mjVIS_PERTFORCE', 11),
('mjVIS_PERTOBJ', 12),
('mjVIS_CONTACTPOINT', 13),
('mjVIS_CONTACTFORCE', 14),
('mjVIS_CONTACTSPLIT', 15),
('mjVIS_TRANSPARENT', 16),
('mjVIS_AUTOCONNECT', 17),
('mjVIS_COM', 18),
('mjVIS_SELECT', 19),
('mjVIS_STATIC', 20),
('mjVIS_SKIN', 21),
('mjNVISFLAG', 22),
('mjVIS_CAMERA', 3),
('mjVIS_ACTUATOR', 4),
('mjVIS_ACTIVATION', 5),
('mjVIS_LIGHT', 6),
('mjVIS_TENDON', 7),
('mjVIS_RANGEFINDER', 8),
('mjVIS_CONSTRAINT', 9),
('mjVIS_INERTIA', 10),
('mjVIS_SCLINERTIA', 11),
('mjVIS_PERTFORCE', 12),
('mjVIS_PERTOBJ', 13),
('mjVIS_CONTACTPOINT', 14),
('mjVIS_CONTACTFORCE', 15),
('mjVIS_CONTACTSPLIT', 16),
('mjVIS_TRANSPARENT', 17),
('mjVIS_AUTOCONNECT', 18),
('mjVIS_COM', 19),
('mjVIS_SELECT', 20),
('mjVIS_STATIC', 21),
('mjVIS_SKIN', 22),
('mjNVISFLAG', 23),
]),
)),
('mjtRndFlag',
src/engine/engine_vis_init.c
+2 -1
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@@ -68,8 +68,9 @@ const char* mjVISSTRING[mjNVISFLAG][3] = {
{"Convex &Hull", "0", "H"},
{"Te&xture", "1", "X"},
{"&Joint", "0", "J"},
{"Act&uator", "0", "U"},
{"Camera", "0", "Q"},
{"Act&uator", "0", "U"},
{"Act&ivation", "0", ","},
{"Light", "0", "Z"},
{"Tendon", "1", "V"},
{"Range Finder", "1", "Y"},
src/engine/engine_vis_visualize.c
+25 -18
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@@ -774,23 +774,26 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
if (vopt->actuatorgroup[mjMAX(0, mjMIN(mjNGROUP-1, m->actuator_group[i]))]) {
// determine extended range
mjtNum rng[3] = {-1, 0, +1};
mjtNum rmin = -1, rmax = 1, act;
if (m->actuator_ctrllimited[i]) {
mjtNum rmin = m->actuator_ctrlrange[2*i];
mjtNum rmax = m->actuator_ctrlrange[2*i+1];
if (rmin>=0) {
rng[0] = -1;
rng[1] = rmin;
rng[2] = rmax;
} else if (rmax<=0) {
rng[0] = rmin;
rng[1] = rmax;
rng[2] = +1;
} else {
rng[0] = rmin;
rng[1] = 0;
rng[2] = rmax;
}
rmin = m->actuator_ctrlrange[2*i];
rmax = m->actuator_ctrlrange[2*i+1];
} else if (vopt->flags[mjVIS_ACTIVATION] && m->actuator_actlimited[i]) {
rmin = m->actuator_actrange[2*i];
rmax = m->actuator_actrange[2*i+1];
}
if (rmin>=0) {
rng[0] = -1;
rng[1] = rmin;
rng[2] = rmax;
} else if (rmax<=0) {
rng[0] = rmin;
rng[1] = rmax;
rng[2] = +1;
} else {
rng[0] = rmin;
rng[1] = 0;
rng[2] = rmax;
}
// adjust small ranges
@@ -801,8 +804,12 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
rng[2] = rng[1] + mjMINVAL;
}
// clamp ctrl to extended range
mjtNum act = mjMIN(rng[2], mjMAX(rng[0], d->ctrl[i]));
// clamp act to extended range
if (vopt->flags[mjVIS_ACTIVATION] && m->actuator_dyntype[i]) {
act = mjMIN(rng[2], mjMAX(rng[0], d->act[i-(m->nu-m->na)]));
} else {
act = mjMIN(rng[2], mjMAX(rng[0], d->ctrl[i]));
}
// compute interpolants
float amin, amean, amax;
test/engine/testdata/activation.xml
Vendored
+46
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@@ -0,0 +1,46 @@
<mujoco>
<option density="1000"/>
<worldbody>
<geom type="plane" size="10 10 .1" rgba="1 1 1 1"/>
<light pos="0 0 20"/>
<site name="anchor_tendon" pos="0 0 9" size="0.03" rgba="0 0 1 1"/>
<body name="body_hinge" pos="5 0 3">
<geom type="box" size="1.5 .1 .1" pos="0 0 2.0"/>
<joint name="hinge" type="hinge" pos="0 0 2.0" axis="0 1 0" range="-25 5"/>
</body>
<body name="body_tendon" pos="0 0 5">
<freejoint/>
<geom type="box" size=".5 .5 .5"/>
<site name="box_tendon" pos=".5 .5 .5" rgba="0 0 1 1" size="0.03"/>
</body>
<body name="body_slider" pos="5 -2 2">
<geom type="box" size=".5 .5 .5"/>
<joint name="slider" type="slide" pos=".5 0 0" axis="1 0 0" range="-25 5"/>
</body>
<body name="body_site" pos="2 2 .5">
<freejoint/>
<geom type="box" size=".5 .5 .5"/>
<site name="box_site" pos="0 0 .5" rgba="0 0 1 1" size="0.1"/>
</body>
<body name="body_stateless" pos="5 2 2">
<geom type="box" size=".5 .5 .5"/>
<joint name="stateless" type="slide" pos=".5 0 0" axis="1 0 0" range="-25 5"/>
</body>
</worldbody>
<tendon>
<spatial name="tendon" limited="true" range="0 4" damping="100" width="0.03">
<site site="anchor_tendon"/>
<site site="box_tendon"/>
</spatial>
</tendon>
<actuator>
<general name="stateless" joint="stateless" ctrllimited="true" ctrlrange="-20 20"/>
<general name="hinge" joint="hinge" dyntype="integrator" ctrllimited="true" ctrlrange="-20 20"/>
<muscle name="tendon" tendon="tendon" ctrllimited="true" ctrlrange="0 2"/>
<general name="slider" joint="slider" dyntype="integrator" ctrllimited="true" ctrlrange="-20 20"/>
<general name="site" site="box_site" dyntype="integrator" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="0 10000"/>
</actuator>
</mujoco>