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Fixed a bug wherein, for models that have both muscles and stateless actuators and used one of the implicit integrators, wrong derivatives would be computed.

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PiperOrigin-RevId: 663680592
Change-Id: I5d72888cab19dd5e51f552f63fe0968db93f5dcd
This commit is contained in:
Yuval Tassa
2024-08-16 04:06:30 -07:00
committed by Copybara-Service
parent 6db96e07e4
commit 0bcaa85650
3 changed files with 93 additions and 5 deletions
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test/engine/engine_derivative_test.cc
+79
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@@ -223,6 +223,85 @@ TEST_F(DerivativeTest, DisabledActuators) {
mj_deleteModel(m1);
}
// actuator order has no effect
TEST_F(DerivativeTest, ActuatorOrder) {
// model with stateful actuator first
static constexpr char xml1[] = R"(
<mujoco>
<option integrator="implicitfast"/>
<worldbody>
<body>
<joint name="0" type="slide" range="-1 1"/>
<geom size=".1"/>
</body>
<body pos="1 0 0">
<joint name="1" type="slide" range="-1 1"/>
<geom size=".1"/>
</body>
</worldbody>
<actuator>
<muscle joint="0" ctrlrange="0 6"/>
<damper joint="1" kv="200" ctrlrange="0 6"/>
</actuator>
</mujoco>
)";
char error[1024];
mjModel* m1 = LoadModelFromString(xml1, error, sizeof(error));
ASSERT_THAT(m1, NotNull()) << "Failed to load model: " << error;
mjData* d1 = mj_makeData(m1);
d1->ctrl[0] = 6;
d1->ctrl[1] = 6;
while (d1->time < 1)
mj_step(m1, d1);
// model with stateful actuator second
static constexpr char xml2[] = R"(
<mujoco>
<option integrator="implicitfast"/>
<worldbody>
<body>
<joint name="0" type="slide" range="-1 1"/>
<geom size=".1"/>
</body>
<body pos="1 0 0">
<joint name="1" type="slide" range="-1 1"/>
<geom size=".1"/>
</body>
</worldbody>
<actuator>
<damper joint="1" kv="200" ctrlrange="0 6"/>
<muscle joint="0" ctrlrange="0 6"/>
</actuator>
</mujoco>
)";
mjModel* m2 = LoadModelFromString(xml2, error, sizeof(error));
ASSERT_THAT(m2, NotNull()) << "Failed to load model: " << error;
mjData* d2 = mj_makeData(m2);
d2->ctrl[0] = 6;
d2->ctrl[1] = 6;
while (d2->time < 1)
mj_step(m2, d2);
// expect same qvel in both models
EXPECT_EQ(d1->qvel[0], d2->qvel[0]);
EXPECT_EQ(d1->qvel[1], d2->qvel[1]);
mj_deleteData(d2);
mj_deleteModel(m2);
mj_deleteData(d1);
mj_deleteModel(m1);
}
// compare analytic and fin-diff d_qfrc_passive/d_qvel
TEST_F(DerivativeTest, PassiveDvel) {
for (const char* local_path : {kTumblingThinObjectPath,