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Add dampratio attribute to position and intvelocity actuators.

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PiperOrigin-RevId: 639745135
Change-Id: I94ba4c346d2750c6c454a60a568f2e6f6bce19d4
This commit is contained in:
Yuval Tassa
2024-06-03 05:26:14 -07:00
committed by Copybara-Service
parent d6712f2944
commit 2830a4071f
9 changed files with 314 additions and 26 deletions
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test/engine/engine_forward_test.cc
+78
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@@ -18,6 +18,7 @@
#include <cmath>
#include <cstdlib>
#include <limits>
#include <vector>
#include <string>
@@ -839,6 +840,83 @@ TEST_F(ActuatorTest, ActuatorGravcomp) {
mj_deleteModel(model);
}
// Check that dampratio works as expected
TEST_F(ActuatorTest, DampRatio) {
static constexpr char xml[] = R"(
<mujoco>
<option integrator="implicitfast"/>
<worldbody>
<body>
<joint name="slide1" axis="1 0 0" type="slide"/>
<geom size=".05"/>
</body>
<body pos="0 0 -.15">
<joint name="slide2" axis="1 0 0" type="slide"/>
<geom size=".05"/>
</body>
</worldbody>
<actuator>
<position name="slightly underdamped" joint="slide1" kp="10" dampratio="0.99"/>
<position name="slightly overdamped" joint="slide2" kp="10" dampratio="1.01"/>
</actuator>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
mjData* data = mj_makeData(model);
data->qpos[0] = data->qpos[1] = -0.1;
mjtNum under_damped = data->qpos[0];
mjtNum over_damped = data->qpos[1];
while (data->time < 10) {
mj_step(model, data);
under_damped = mju_max(under_damped, data->qpos[0]);
over_damped = mju_max(over_damped, data->qpos[1]);
}
// expect slightly underdamped to slightly overshoot
EXPECT_GT(under_damped, 0);
EXPECT_LT(under_damped, 1e-6);
// expect slightly overdamped to slightly undershoot
EXPECT_LT(over_damped, 0);
EXPECT_GT(over_damped, -1e-6);
mj_deleteData(data);
mj_deleteModel(model);
}
// Check dampratio for actuators with nontrivial transmission
TEST_F(ActuatorTest, DampRatioTendon) {
const std::string xml_path =
GetTestDataFilePath("engine/testdata/actuation/tendon_dampratio.xml");
char error[1000];
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
mjData* data = mj_makeData(model);
data->ctrl[0] = 1;
data->ctrl[1] = 4;
while (data->time < 1) {
mj_step(model, data);
}
// expect first and second fingers to move together
double tol = 1e-10;
EXPECT_THAT(AsVector(data->qpos, 4),
Pointwise(DoubleNear(tol), AsVector(data->qpos + 4, 4)));
EXPECT_THAT(AsVector(data->qvel, 4),
Pointwise(DoubleNear(tol), AsVector(data->qvel + 4, 4)));
mj_deleteData(data);
mj_deleteModel(model);
}
// ----------------------- filterexact actuators -------------------------------
using FilterExactTest = MujocoTest;