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Add actuatorgravcomp joint attribute, to treat gravity compensation forces as applied by actuators, rather than passive buoyancy.

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PiperOrigin-RevId: 620049593
Change-Id: I2c8a9dc152c087b408e4f904838034271a7dd910
This commit is contained in:
Yuval Tassa
2024-03-28 14:00:55 -07:00
committed by Copybara-Service
parent d258d5e152
commit 47ba72ea59
16 changed files with 257 additions and 79 deletions
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src/xml/xml_native_reader.cc
+9 -5
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@@ -138,10 +138,11 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
{"mesh", "?", "1", "scale"},
{"material", "?", "8", "texture", "emission", "specular", "shininess",
"reflectance", "rgba", "texrepeat", "texuniform"},
{"joint", "?", "21", "type", "group", "pos", "axis", "springdamper",
{"joint", "?", "22", "type", "group", "pos", "axis", "springdamper",
"limited", "actuatorfrclimited", "solreflimit", "solimplimit",
"solreffriction", "solimpfriction", "stiffness", "range", "actuatorfrcrange",
"margin", "ref", "springref", "armature", "damping", "frictionloss", "user"},
"actuatorgravcomp", "margin", "ref", "springref", "armature", "damping",
"frictionloss", "user"},
{"geom", "?", "31", "type", "pos", "quat", "contype", "conaffinity", "condim",
"group", "priority", "size", "material", "friction", "mass", "density",
"shellinertia", "solmix", "solref", "solimp",
@@ -240,11 +241,11 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
{"<"},
{"inertial", "?", "9", "pos", "quat", "mass", "diaginertia",
"axisangle", "xyaxes", "zaxis", "euler", "fullinertia"},
{"joint", "*", "23", "name", "class", "type", "group", "pos", "axis",
{"joint", "*", "24", "name", "class", "type", "group", "pos", "axis",
"springdamper", "limited", "actuatorfrclimited",
"solreflimit", "solimplimit", "solreffriction", "solimpfriction",
"stiffness", "range", "actuatorfrcrange", "margin", "ref", "springref",
"armature", "damping", "frictionloss", "user"},
"stiffness", "range", "actuatorfrcrange", "actuatorgravcomp", "margin", "ref",
"springref", "armature", "damping", "frictionloss", "user"},
{"freejoint", "*", "2", "name", "group"},
{"geom", "*", "33", "name", "class", "type", "contype", "conaffinity", "condim",
"group", "priority", "size", "material", "friction", "mass", "density",
@@ -1573,6 +1574,9 @@ void mjXReader::OneJoint(XMLElement* elem, mjsJoint* pjoint) {
ReadAttr(elem, "armature", 1, &pjoint->armature, text);
ReadAttr(elem, "damping", 1, &pjoint->damping, text);
ReadAttr(elem, "frictionloss", 1, &pjoint->frictionloss, text);
if (MapValue(elem, "actuatorgravcomp", &n, bool_map, 2)) {
pjoint->actgravcomp = (n==1);
}
// read userdata
if (ReadVector(elem, "user", userdata, text)) {