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Allow more than 1 activation state per actuator, but only for dyntype user.

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Fixes #305.

PiperOrigin-RevId: 486597273
Change-Id: I3eb806f60949e68ebe6cbe35a6e66218a167ed45
This commit is contained in:
Yuval Tassa
2022-11-07 01:42:18 -08:00
committed by Copybara-Service
parent 0514010928
commit 36b30e4500
20 changed files with 271 additions and 37 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_forward.c
+12 -3
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@@ -234,7 +234,8 @@ void mj_fwdActuation(const mjModel* m, mjData* d) {
if (m->actuator_actadr[i] == -1) {
force[i] = gain * ctrl[i];
} else {
force[i] = gain * d->act[m->actuator_actadr[i]];
// use last activation variable associated with actuator i
force[i] = gain * d->act[m->actuator_actadr[i] + m->actuator_actnum[i] - 1];
}
// extract bias info
@@ -329,7 +330,13 @@ void mj_fwdActuation(const mjModel* m, mjData* d) {
default: // user dynamics
if (mjcb_act_dyn) {
d->act_dot[j] = mjcb_act_dyn(m, d, i);
if (m->actuator_actnum[i] == 1) {
// scalar activation dynamics, get act_dot
d->act_dot[j] = mjcb_act_dyn(m, d, i);
} else {
// higher-order dynamics, mjcb_act_dyn writes into act_dot directly
mjcb_act_dyn(m, d, i);
}
} else {
d->act_dot[j] = 0;
}
@@ -501,7 +508,9 @@ static void mj_advance(const mjModel* m, mjData* d,
int j = m->actuator_actadr[i];
if (j > -1 && m->actuator_actlimited[i]) {
mjtNum* actrange = m->actuator_actrange + 2*i;
d->act[j] = mju_clip(d->act[j], actrange[0], actrange[1]);
for (int k=0; k<m->actuator_actnum[i]; k++) {
d->act[j+k] = mju_clip(d->act[j+k], actrange[0], actrange[1]);
}
}
}
}
src/engine/engine_io.c
+1 -1
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@@ -1369,7 +1369,7 @@ const char* mj_validateReferences(const mjModel* m) {
X(pair_geom1, npair, ngeom , 0 ) \
X(pair_geom2, npair, ngeom , 0 ) \
X(actuator_plugin, nu, nplugin , 0 ) \
X(actuator_actadr, nu, na , 0 ) \
X(actuator_actadr, nu, na , m->actuator_actnum ) \
X(sensor_plugin, nsensor, nplugin , 0 ) \
X(plugin_stateadr, nplugin, npluginstate , m->plugin_statenum ) \
X(plugin_attradr, nplugin, npluginattr , 0 ) \
src/engine/engine_vis_visualize.c
+2 -2
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@@ -776,7 +776,7 @@ 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;
mjtNum rmin = -1, rmax = 1, act = 0;
if (m->actuator_ctrllimited[i]) {
rmin = m->actuator_ctrlrange[2*i];
rmax = m->actuator_ctrlrange[2*i+1];
@@ -808,7 +808,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
// clamp act to extended range
if (vopt->flags[mjVIS_ACTIVATION] && m->actuator_dyntype[i]) {
act = mju_clip(d->act[m->actuator_actadr[i]], rng[0], rng[2]);
act = mju_clip(d->act[m->actuator_actadr[i] + m->actuator_actnum[i] - 1], rng[0], rng[2]);
} else {
act = mju_clip(d->ctrl[i], rng[0], rng[2]);
}
src/user/user_model.cc
+4 -2
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@@ -929,7 +929,7 @@ void mjCModel::SetSizes(void) {
nu++;
} else {
nu++;
na++;
na += actuators[i]->actdim;
}
}
@@ -1834,7 +1834,9 @@ void mjCModel::CopyObjects(mjModel* m) {
m->actuator_biastype[i] = pac->biastype;
m->actuator_trnid[2*i] = pac->trnid[0];
m->actuator_trnid[2*i+1] = pac->trnid[1];
m->actuator_actadr[i] = pac->dyntype == mjDYN_NONE ? -1 : adr++;
m->actuator_actadr[i] = pac->dyntype == mjDYN_NONE ? -1 : adr;
adr += pac->actdim;
m->actuator_actnum[i] = pac->actdim;
m->actuator_group[i] = pac->group;
m->actuator_ctrllimited[i] = pac->ctrllimited;
m->actuator_forcelimited[i] = pac->forcelimited;
src/user/user_objects.cc
+18
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@@ -3390,6 +3390,7 @@ mjCActuator::mjCActuator(mjCModel* _model, mjCDef* _def) {
ctrllimited = 2;
forcelimited = 2;
actlimited = 2;
actdim = -1;
trntype = mjTRN_UNDEFINED;
dyntype = mjDYN_NONE;
gaintype = mjGAIN_FIXED;
@@ -3474,6 +3475,23 @@ void mjCActuator::Compile(void) {
name.c_str(), id);
}
// check and set actdim
if (actdim > 1 && dyntype != mjDYN_USER) {
throw mjCError(this, "actdim > 1 is only allowed for dyntype 'user' in actuator '%s' (id = %d)",
name.c_str(), id);
}
if (actdim == 1 && dyntype == mjDYN_NONE) {
throw mjCError(this, "invalid actdim 1 in stateless actuator '%s' (id = %d)", name.c_str(), id);
}
if (actdim == 0 && dyntype != mjDYN_NONE) {
throw mjCError(this, "invalid actdim 0 in stateful actuator '%s' (id = %d)", name.c_str(), id);
}
// set actdim
if (actdim < 0) {
actdim = (dyntype != mjDYN_NONE);
}
// check muscle parameters
for (int i=0; i<2; i++) {
// select gain or bias
src/user/user_objects.h
+4 -3
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@@ -873,9 +873,10 @@ class mjCActuator : public mjCBase {
public:
// variables set by user or API
int group; // group for visualization
int ctrllimited; // are control limits defined: 0 false, 1 true, 2 auto
int forcelimited; // are force limits defined: 0 false, 1 true, 2 auto
int actlimited; // are activation limits defined: 0 false, 1 true, 2 auto
int ctrllimited; // are control limits defined: 0 false, 1 true, 2 auto
int forcelimited; // are force limits defined: 0 false, 1 true, 2 auto
int actlimited; // are activation limits defined: 0 false, 1 true, 2 auto
int actdim; // dimension of associated activations
mjtDyn dyntype; // dynamics type
mjtTrn trntype; // transmission type
mjtGain gaintype; // gain type
src/xml/xml_native_reader.cc
+5 -4
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@@ -159,8 +159,8 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
"solreflimit", "solimplimit", "solreffriction", "solimpfriction",
"frictionloss", "springlength", "width", "material",
"margin", "stiffness", "damping", "rgba", "user"},
{"general", "?", "16", "ctrllimited", "forcelimited", "actlimited", "ctrlrange",
"forcerange", "actrange", "gear", "cranklength", "user", "group",
{"general", "?", "17", "ctrllimited", "forcelimited", "actlimited", "ctrlrange",
"forcerange", "actrange", "gear", "cranklength", "user", "group", "actdim",
"dyntype", "gaintype", "biastype", "dynprm", "gainprm", "biasprm"},
{"motor", "?", "8", "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"gear", "cranklength", "user", "group"},
@@ -323,11 +323,11 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
{"actuator", "*", "0"},
{"<"},
{"general", "*", "27", "name", "class", "group",
{"general", "*", "28", "name", "class", "group",
"ctrllimited", "forcelimited", "actlimited", "ctrlrange", "forcerange", "actrange",
"lengthrange", "gear", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
"body", "dyntype", "gaintype", "biastype", "dynprm", "gainprm", "biasprm"},
"body", "actdim", "dyntype", "gaintype", "biastype", "dynprm", "gainprm", "biasprm"},
{"motor", "*", "18", "name", "class", "group",
"ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"lengthrange", "gear", "cranklength", "user",
@@ -1683,6 +1683,7 @@ void mjXReader::OneActuator(XMLElement* elem, mjCActuator* pact) {
ReadAttr(elem, "dynprm", mjNDYN, pact->dynprm, text, false, false);
ReadAttr(elem, "gainprm", mjNGAIN, pact->gainprm, text, false, false);
ReadAttr(elem, "biasprm", mjNBIAS, pact->biasprm, text, false, false);
ReadAttrInt(elem, "actdim", &pact->actdim);
}
// direct drive motor
src/xml/xml_native_writer.cc
+1
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@@ -640,6 +640,7 @@ void mjXWriter::OneActuator(XMLElement* elem, mjCActuator* pact, mjCDef* def) {
// non-plugins: write actuator parameters
else {
WriteAttrInt(elem, "actdim", pact->actdim, def->actuator.actdim);
WriteAttrKey(elem, "dyntype", dyn_map, dyn_sz, pact->dyntype, def->actuator.dyntype);
WriteAttrKey(elem, "gaintype", gain_map, gain_sz, pact->gaintype, def->actuator.gaintype);
WriteAttrKey(elem, "biastype", bias_map, bias_sz, pact->biastype, def->actuator.biastype);