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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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src/engine/engine_vis_init.c
+2 -1
View File
@@ -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
View File
@@ -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;