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Cartesian end-effector control using site transmission.

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- Added `refsite` attribute to actuators with `site` transmission.
- Such actuators now have a well defined length and can be used for e.g., Cartesian end-effector control.
- Added example models and documentation describing the new feature.

PiperOrigin-RevId: 471561218
Change-Id: I538f09af9600d5c53992c4a9fed325648aab4fa3
This commit is contained in:
Yuval Tassa
2022-09-01 10:06:11 -07:00
committed by Copybara-Service
parent 834e8dd506
commit 46da1285af
10 changed files with 283 additions and 55 deletions
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src/xml/xml_native_reader.cc
+21 -15
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@@ -265,40 +265,40 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
{"actuator", "*", "0"},
{"<"},
{"general", "*", "26", "name", "class", "group",
{"general", "*", "27", "name", "class", "group",
"ctrllimited", "forcelimited", "actlimited", "ctrlrange", "forcerange", "actrange",
"lengthrange", "gear", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "body",
"dyntype", "gaintype", "biastype", "dynprm", "gainprm", "biasprm"},
{"motor", "*", "17", "name", "class", "group",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
"body", "dyntype", "gaintype", "biastype", "dynprm", "gainprm", "biasprm"},
{"motor", "*", "18", "name", "class", "group",
"ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"lengthrange", "gear", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site"},
{"position", "*", "18", "name", "class", "group",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite"},
{"position", "*", "19", "name", "class", "group",
"ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"lengthrange", "gear", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
"kp"},
{"velocity", "*", "18", "name", "class", "group",
{"velocity", "*", "19", "name", "class", "group",
"ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"lengthrange", "gear", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
"kv"},
{"intvelocity", "*", "19", "name", "class", "group",
{"intvelocity", "*", "20", "name", "class", "group",
"ctrllimited", "forcelimited",
"ctrlrange", "forcerange", "actrange", "lengthrange",
"gear", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
"kp"},
{"damper", "*", "17", "name", "class", "group",
{"damper", "*", "18", "name", "class", "group",
"forcelimited", "ctrlrange", "forcerange",
"lengthrange", "gear", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
"kv"},
{"cylinder", "*", "21", "name", "class", "group",
{"cylinder", "*", "22", "name", "class", "group",
"ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"lengthrange", "gear", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
"timeconst", "area", "diameter", "bias"},
{"muscle", "*", "25", "name", "class", "group",
"ctrllimited", "forcelimited", "ctrlrange", "forcerange",
@@ -1439,6 +1439,12 @@ void mjXReader::OneActuator(XMLElement* elem, mjCActuator* pact) {
throw mjXError(elem, "cranklength and slidersite can only be used in slidercrank transmission");
}
// site-specific parameters (refsite)
int r3 = ReadAttrTxt(elem, "refsite", pact->refsite);
if (r3 && pact->trntype!=mjTRN_SITE && pact->trntype!=mjTRN_UNDEFINED) {
throw mjXError(elem, "refsite can only be used with site transmission");
}
// get predefined type
type = elem->Value();