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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
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src/engine/engine_forward.c
+12 -3
View File
@@ -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
View File
@@ -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
View File
@@ -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]);
}