Add visualisation flag for activations.

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

PiperOrigin-RevId: 453628961
Change-Id: I061ec3d17e57c6baffa0fe446a0be3564c44519d

include/mujoco/mjvisualize.h

@@ -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

@@ -584,26 +584,27 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjVIS_CONVEXHULL', 0),
              ('mjVIS_TEXTURE', 1),
              ('mjVIS_JOINT', 2),
-             ('mjVIS_ACTUATOR', 3),
+             ('mjVIS_CAMERA', 3),
-             ('mjVIS_CAMERA', 4),
+             ('mjVIS_ACTUATOR', 4),
-             ('mjVIS_LIGHT', 5),
+             ('mjVIS_ACTIVATION', 5),
-             ('mjVIS_TENDON', 6),
+             ('mjVIS_LIGHT', 6),
-             ('mjVIS_RANGEFINDER', 7),
+             ('mjVIS_TENDON', 7),
-             ('mjVIS_CONSTRAINT', 8),
+             ('mjVIS_RANGEFINDER', 8),
-             ('mjVIS_INERTIA', 9),
+             ('mjVIS_CONSTRAINT', 9),
-             ('mjVIS_SCLINERTIA', 10),
+             ('mjVIS_INERTIA', 10),
-             ('mjVIS_PERTFORCE', 11),
+             ('mjVIS_SCLINERTIA', 11),
-             ('mjVIS_PERTOBJ', 12),
+             ('mjVIS_PERTFORCE', 12),
-             ('mjVIS_CONTACTPOINT', 13),
+             ('mjVIS_PERTOBJ', 13),
-             ('mjVIS_CONTACTFORCE', 14),
+             ('mjVIS_CONTACTPOINT', 14),
-             ('mjVIS_CONTACTSPLIT', 15),
+             ('mjVIS_CONTACTFORCE', 15),
-             ('mjVIS_TRANSPARENT', 16),
+             ('mjVIS_CONTACTSPLIT', 16),
-             ('mjVIS_AUTOCONNECT', 17),
+             ('mjVIS_TRANSPARENT', 17),
-             ('mjVIS_COM', 18),
+             ('mjVIS_AUTOCONNECT', 18),
-             ('mjVIS_SELECT', 19),
+             ('mjVIS_COM', 19),
-             ('mjVIS_STATIC', 20),
+             ('mjVIS_SELECT', 20),
-             ('mjVIS_SKIN', 21),
+             ('mjVIS_STATIC', 21),
-             ('mjNVISFLAG', 22),
+             ('mjVIS_SKIN', 22),
+             ('mjNVISFLAG', 23),
          ]),
      )),
     ('mjtRndFlag',

src/engine/engine_vis_init.c

@@ -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

@@ -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];
+          rmin = m->actuator_ctrlrange[2*i];
-          mjtNum rmax = m->actuator_ctrlrange[2*i+1];
+          rmax = m->actuator_ctrlrange[2*i+1];
-
+        } else if (vopt->flags[mjVIS_ACTIVATION] && m->actuator_actlimited[i]) {
-          if (rmin>=0) {
+          rmin = m->actuator_actrange[2*i];
-            rng[0] = -1;
+          rmax = m->actuator_actrange[2*i+1];
-            rng[1] = rmin;
+        }
-            rng[2] = rmax;
+        if (rmin>=0) {
-          } else if (rmax<=0) {
+          rng[0] = -1;
-            rng[0] = rmin;
+          rng[1] = rmin;
-            rng[1] = rmax;
+          rng[2] = rmax;
-            rng[2] = +1;
+        } else if (rmax<=0) {
-          } else {
+          rng[0] = rmin;
-            rng[0] = rmin;
+          rng[1] = rmax;
-            rng[1] = 0;
+          rng[2] = +1;
-            rng[2] = rmax;
+        } 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
+        // clamp act to extended range
-        mjtNum act = mjMIN(rng[2], mjMAX(rng[0], d->ctrl[i]));
+        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

@@ -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>