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Automatically infer *limited field from *range field for joints, tendons and actuators.

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PiperOrigin-RevId: 467980594
Change-Id: If635c55a90cf949796b99a41395a6c2c4f7ea094
This commit is contained in:
Kevin Zakka
2022-08-16 11:34:41 -07:00
committed by Copybara-Service
parent 29535a8eca
commit 4bfc2c0311
9 changed files with 474 additions and 58 deletions
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src/xml/xml_native_reader.cc
+10 -25
View File
@@ -1092,9 +1092,7 @@ void mjXReader::OneJoint(XMLElement* elem, mjCJoint* pjoint) {
if (MapValue(elem, "type", &n, joint_map, joint_sz)) {
pjoint->type = (mjtJoint)n;
}
if (MapValue(elem, "limited", &n, bool_map, 2)) {
pjoint->limited = (n==1);
}
MapValue(elem, "limited", &pjoint->limited, TFAuto_map, 3);
ReadAttrInt(elem, "group", &pjoint->group);
ReadAttr(elem, "solreflimit", mjNREF, pjoint->solref_limit, text, false, false);
ReadAttr(elem, "solimplimit", mjNIMP, pjoint->solimp_limit, text, false, false);
@@ -1350,7 +1348,6 @@ void mjXReader::OneEquality(XMLElement* elem, mjCEquality* pequality) {
// tendon element parser
void mjXReader::OneTendon(XMLElement* elem, mjCTendon* pten) {
int n;
string text;
// read attributes
@@ -1358,9 +1355,7 @@ void mjXReader::OneTendon(XMLElement* elem, mjCTendon* pten) {
ReadAttrTxt(elem, "class", pten->classname);
ReadAttrInt(elem, "group", &pten->group);
ReadAttrTxt(elem, "material", pten->material);
if (MapValue(elem, "limited", &n, bool_map, 2)) {
pten->limited = (n==1);
}
MapValue(elem, "limited", &pten->limited, TFAuto_map, 3);
ReadAttr(elem, "width", 1, &pten->width, text);
ReadAttr(elem, "solreflimit", mjNREF, pten->solref_limit, text, false, false);
ReadAttr(elem, "solimplimit", mjNIMP, pten->solimp_limit, text, false, false);
@@ -1392,15 +1387,9 @@ void mjXReader::OneActuator(XMLElement* elem, mjCActuator* pact) {
ReadAttrTxt(elem, "name", pact->name);
ReadAttrTxt(elem, "class", pact->classname);
ReadAttrInt(elem, "group", &pact->group);
if (MapValue(elem, "ctrllimited", &n, bool_map, 2)) {
pact->ctrllimited = (n==1);
}
if (MapValue(elem, "forcelimited", &n, bool_map, 2)) {
pact->forcelimited = (n==1);
}
if (MapValue(elem, "actlimited", &n, bool_map, 2)) {
pact->actlimited = (n==1);
}
MapValue(elem, "ctrllimited", &pact->ctrllimited, TFAuto_map, 3);
MapValue(elem, "forcelimited", &pact->forcelimited, TFAuto_map, 3);
MapValue(elem, "actlimited", &pact->actlimited, TFAuto_map, 3);
ReadAttr(elem, "ctrlrange", 2, pact->ctrlrange, text);
ReadAttr(elem, "forcerange", 2, pact->forcerange, text);
ReadAttr(elem, "actrange", 2, pact->actrange, text);
@@ -1518,7 +1507,7 @@ void mjXReader::OneActuator(XMLElement* elem, mjCActuator* pact) {
pact->dyntype = mjDYN_INTEGRATOR;
pact->gaintype = mjGAIN_FIXED;
pact->biastype = mjBIAS_AFFINE;
pact->actlimited = true;
pact->actlimited = 1;
pact->biasprm[1] = -pact->gainprm[0];
// require actrange
if (!ReadAttr(elem, "actrange", 2, pact->actrange, text)) {
@@ -1544,7 +1533,7 @@ void mjXReader::OneActuator(XMLElement* elem, mjCActuator* pact) {
}
// implied parameters
pact->ctrllimited = true;
pact->ctrllimited = 1;
pact->dyntype = mjDYN_NONE;
pact->gaintype = mjGAIN_AFFINE;
pact->biastype = mjBIAS_NONE;
@@ -1622,7 +1611,7 @@ void mjXReader::OneActuator(XMLElement* elem, mjCActuator* pact) {
}
// implied parameters
pact->ctrllimited = true;
pact->ctrllimited = 1;
pact->dyntype = mjDYN_NONE;
pact->gaintype = mjGAIN_FIXED;
pact->biastype = mjBIAS_NONE;
@@ -1728,9 +1717,7 @@ void mjXReader::OneComposite(XMLElement* elem, mjCBody* pbody, mjCDef* def) {
ReadAttr(ejnt, "solimpfix", mjNIMP, comp.def[kind].equality.solimp, text, false, false);
// joint attributes
if (MapValue(ejnt, "limited", &n, bool_map, 2)) {
comp.def[kind].joint.limited = (n==1);
}
MapValue(elem, "limited", &comp.def[kind].joint.limited, TFAuto_map, 3);
ReadAttrInt(ejnt, "group", &comp.def[kind].joint.group);
ReadAttr(ejnt, "solreflimit", mjNREF, comp.def[kind].joint.solref_limit, text, false, false);
ReadAttr(ejnt, "solimplimit", mjNIMP, comp.def[kind].joint.solimp_limit, text, false, false);
@@ -1762,9 +1749,7 @@ void mjXReader::OneComposite(XMLElement* elem, mjCBody* pbody, mjCDef* def) {
ReadAttr(eten, "solimpfix", mjNIMP, comp.def[kind].equality.solimp, text, false, false);
// tendon attributes
if (MapValue(eten, "limited", &n, bool_map, 2)) {
comp.def[kind].tendon.limited = (n==1);
}
MapValue(elem, "limited", &comp.def[kind].tendon.limited, TFAuto_map, 3);
ReadAttrInt(eten, "group", &comp.def[kind].tendon.group);
ReadAttr(eten, "solreflimit", mjNREF, comp.def[kind].tendon.solref_limit, text, false, false);
ReadAttr(eten, "solimplimit", mjNIMP, comp.def[kind].tendon.solimp_limit, text, false, false);
src/xml/xml_native_writer.cc
+32 -5
View File
@@ -207,6 +207,13 @@ void mjXWriter::OneJoint(XMLElement* elem, mjCJoint* pjoint, mjCDef* def) {
}
}
// special handling of limits
bool range_defined = pjoint->range[0]!=0 || pjoint->range[1]!=0;
bool limited_inferred = def->joint.limited==2 && pjoint->limited==range_defined;
if (writingdefaults || !limited_inferred) {
WriteAttrKey(elem, "limited", TFAuto_map, 3, pjoint->limited, def->joint.limited);
}
// defaults and regular
if (pjoint->type != def->joint.type) {
WriteAttrTxt(elem, "type", FindValue(joint_map, joint_sz, pjoint->type));
@@ -214,7 +221,6 @@ void mjXWriter::OneJoint(XMLElement* elem, mjCJoint* pjoint, mjCDef* def) {
WriteAttrInt(elem, "group", pjoint->group, def->joint.group);
WriteAttr(elem, "ref", 1, &pjoint->ref, &zero);
WriteAttr(elem, "springref", 1, &pjoint->springref, &zero);
WriteAttrKey(elem, "limited", bool_map, 2, pjoint->limited, def->joint.limited);
WriteAttr(elem, "solreflimit", mjNREF, pjoint->solref_limit, def->joint.solref_limit);
WriteAttr(elem, "solimplimit", mjNIMP, pjoint->solimp_limit, def->joint.solimp_limit);
WriteAttr(elem, "solreffriction", mjNREF, pjoint->solref_friction, def->joint.solref_friction);
@@ -491,9 +497,15 @@ void mjXWriter::OneTendon(XMLElement* elem, mjCTendon* pten, mjCDef* def) {
WriteAttrTxt(elem, "class", pten->classname);
}
// special handling of limits
bool range_defined = pten->range[0]!=0 || pten->range[1]!=0;
bool limited_inferred = def->tendon.limited==2 && pten->limited==range_defined;
if (writingdefaults || !limited_inferred) {
WriteAttrKey(elem, "limited", TFAuto_map, 3, pten->limited, def->tendon.limited);
}
// defaults and regular
WriteAttrInt(elem, "group", pten->group, def->tendon.group);
WriteAttrKey(elem, "limited", bool_map, 2, pten->limited, def->tendon.limited);
WriteAttr(elem, "solreflimit", mjNREF, pten->solref_limit, def->tendon.solref_limit);
WriteAttr(elem, "solimplimit", mjNIMP, pten->solimp_limit, def->tendon.solimp_limit);
WriteAttr(elem, "solreffriction", mjNREF, pten->solref_friction, def->tendon.solref_friction);
@@ -563,11 +575,26 @@ void mjXWriter::OneActuator(XMLElement* elem, mjCActuator* pact, mjCDef* def) {
}
}
// special handling of limits
bool range_defined, limited_inferred;
range_defined = pact->ctrlrange[0]!=0 || pact->ctrlrange[1]!=0;
limited_inferred = def->actuator.ctrllimited==2 && pact->ctrllimited==range_defined;
if (writingdefaults || !limited_inferred) {
WriteAttrKey(elem, "ctrllimited", TFAuto_map, 3, pact->ctrllimited, def->actuator.ctrllimited);
}
range_defined = pact->forcerange[0]!=0 || pact->forcerange[1]!=0;
limited_inferred = def->actuator.forcelimited==2 && pact->forcelimited==range_defined;
if (writingdefaults || !limited_inferred) {
WriteAttrKey(elem, "forcelimited", TFAuto_map, 3, pact->forcelimited, def->actuator.forcelimited);
}
range_defined = pact->actrange[0]!=0 || pact->actrange[1]!=0;
limited_inferred = def->actuator.actlimited==2 && pact->actlimited==range_defined;
if (writingdefaults || !limited_inferred) {
WriteAttrKey(elem, "actlimited", TFAuto_map, 3, pact->actlimited, def->actuator.actlimited);
}
// defaults and regular
WriteAttrInt(elem, "group", pact->group, def->actuator.group);
WriteAttrKey(elem, "ctrllimited", bool_map, 2, pact->ctrllimited, def->actuator.ctrllimited);
WriteAttrKey(elem, "forcelimited", bool_map, 2, pact->forcelimited, def->actuator.forcelimited);
WriteAttrKey(elem, "actlimited", bool_map, 2, pact->actlimited, def->actuator.actlimited);
WriteAttr(elem, "ctrlrange", 2, pact->ctrlrange, def->actuator.ctrlrange);
WriteAttr(elem, "forcerange", 2, pact->forcerange, def->actuator.forcerange);
WriteAttr(elem, "actrange", 2, pact->actrange, def->actuator.actrange);