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Add adhesion actuators.

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- Adhesion actuators using contact normals as force transmission mechanism.
- Related video: https://youtu.be/HdBue4MUZys

Closes #229

PiperOrigin-RevId: 464389367
Change-Id: I9f69b3cd152d957e8f65870d208788463c036a6d
This commit is contained in:
Yuval Tassa
2022-07-31 08:53:29 -07:00
committed by Copybara-Service
parent 5c5449bf82
commit 3d77eb1ef4
17 changed files with 475 additions and 63 deletions
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src/xml/xml_native_reader.cc
+40 -8
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@@ -42,7 +42,7 @@ using tinyxml2::XMLElement;
//---------------------------------- MJCF schema ---------------------------------------------------
static const int nMJCF = 163;
static const int nMJCF = 165;
static const char* MJCF[nMJCF][mjXATTRNUM] = {
{"mujoco", "!", "1", "model"},
{"<"},
@@ -145,6 +145,8 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
"gear", "cranklength", "user", "group",
"timeconst", "range", "force", "scale",
"lmin", "lmax", "vmax", "fpmax", "fvmax"},
{"adhesion", "?", "6", "forcelimited", "ctrlrange", "forcerange",
"gain", "user", "group"},
{">"},
{"custom", "*", "0"},
@@ -262,10 +264,10 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
{"actuator", "*", "0"},
{"<"},
{"general", "*", "25", "name", "class", "group",
{"general", "*", "26", "name", "class", "group",
"ctrllimited", "forcelimited", "actlimited", "ctrlrange", "forcerange", "actrange",
"lengthrange", "gear", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "body",
"dyntype", "gaintype", "biastype", "dynprm", "gainprm", "biasprm"},
{"motor", "*", "17", "name", "class", "group",
"ctrllimited", "forcelimited", "ctrlrange", "forcerange",
@@ -303,6 +305,8 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
"joint", "jointinparent", "tendon", "slidersite", "cranksite",
"timeconst", "range", "force", "scale",
"lmin", "lmax", "vmax", "fpmax", "fvmax"},
{"adhesion", "*", "9", "name", "class", "group",
"forcelimited", "ctrlrange", "forcerange", "user", "body", "gain"},
{">"},
{"sensor", "*", "0"},
@@ -1426,7 +1430,10 @@ void mjXReader::OneActuator(XMLElement* elem, mjCActuator* pact) {
pact->trntype = mjTRN_SITE;
cnt++;
}
if (ReadAttrTxt(elem, "body", pact->target)) {
pact->trntype = mjTRN_BODY;
cnt++;
}
// check for repeated transmission
if (cnt>1) {
throw mjXError(elem, "actuator can have at most one of transmission target");
@@ -1522,7 +1529,7 @@ void mjXReader::OneActuator(XMLElement* elem, mjCActuator* pact) {
// damper
else if (type=="damper") {
// clear bias
// clear gain
mjuu_zerovec(pact->gainprm, mjNGAIN);
// explicit attributes
@@ -1531,10 +1538,10 @@ void mjXReader::OneActuator(XMLElement* elem, mjCActuator* pact) {
throw mjXError(elem, "damping coefficient cannot be negative");
pact->gainprm[2] = -pact->gainprm[2];
// Require nonnegative range
ReadAttr(elem, "ctrlrange", 2, pact->ctrlrange, text);
// require nonnegative range
ReadAttr(elem, "ctrlrange", 2, pact->ctrlrange, text, true);
if (pact->ctrlrange[0]<0 || pact->ctrlrange[1]<0) {
throw mjXError(elem, "control range cannot be negative");
throw mjXError(elem, "damper control range cannot be negative");
}
// implied parameters
@@ -1597,6 +1604,31 @@ void mjXReader::OneActuator(XMLElement* elem, mjCActuator* pact) {
pact->biastype = mjBIAS_MUSCLE;
}
// adhesion
else if (type=="adhesion") {
// clear bias, set default gain
mjuu_zerovec(pact->biasprm, mjNBIAS);
mjuu_zerovec(pact->gainprm, mjNGAIN);
pact->gainprm[0] = 1;
// explicit attributes
ReadAttr(elem, "gain", 1, pact->gainprm, text);
if (pact->gainprm[0]<0)
throw mjXError(elem, "adhesion gain cannot be negative");
// require nonnegative range
ReadAttr(elem, "ctrlrange", 2, pact->ctrlrange, text, true);
if (pact->ctrlrange[0]<0 || pact->ctrlrange[1]<0) {
throw mjXError(elem, "adhesion control range cannot be negative");
}
// implied parameters
pact->ctrllimited = true;
pact->dyntype = mjDYN_NONE;
pact->gaintype = mjGAIN_FIXED;
pact->biastype = mjBIAS_NONE;
}
else { // SHOULD NOT OCCUR
throw mjXError(elem, "unrecognized actuator type: %s", type.c_str());
}