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Allow actuators to add damping and armature to joint and tendon transmissions.

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PiperOrigin-RevId: 886899849
Change-Id: I02200ee0d4f7c96096d8188b95f823b566562a30
This commit is contained in:
Yuval Tassa
2026-03-20 11:40:35 -07:00
committed by Copybara-Service
parent f7bd6d15f7
commit 510d75f4cf
25 changed files with 1164 additions and 77 deletions
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doc/XMLreference.rst
+111 -8
View File
@@ -5353,6 +5353,45 @@ specify them independently.
the first element of this vector is used. The remaining elements are needed for joint, jointinparent and site
transmissions where this attribute is used to specify 3D force and torque axes.
.. _actuator-general-damping:
:at:`damping`: :at-val:`real(3), "0 0 0"`
Viscous damping coefficients, contributed by the actuator to its transmission target (joint or tendon only).
The damping value is scaled by :ref:`gear<actuator-general-gear>` squared, because the gear ratio scales both forces
and velocities, leading to reflected damping (analogous to :ref:`reflected inertia<actuator-general-armature>`).
Like :ref:`joint damping<body-joint-damping>`, coefficients correspond to linear, quadratic and cubic velocity.
See :ref:`Polynomial forces<gePolynomial>` for details.
Several actuator shortcuts have a :at:`kv` attribute which maps to :ref:`-biasprm[2]<actuator-general-biasprm>` and
has similar semantics to :at:`damping`: (e.g.,
:ref:`position/kv<actuator-position-kv>`). The differences between these attributes are:
- :at:`damping` is applied at the transmission target, and therefore includes the gear\ :sup:`2` factor. This factor
is not required for :at:`kv` as it is already applied in actuator space (so the units are identical).
- Implicit integration works for :at:`damping` when using the Euler integrator but not for :at:`kv`.
To get implicit integration for :at:`kv`, implicit or implicitfast is required, see
:ref:`Integration<CIntegrator>`.
- :at:`damping` allows for polynomial damping, while :at:`kv` is only linear.
- Damping forces generated by :at:`kv` are subject to :ref:`forcerange<actuator-general-forcerange>` clamping, but
forces generated by :at:`damping` are not.
Finally, note that while it is permitted for nonzero damping and :ref:`armature<actuator-general-armature>` to be
specified for multiple actuators acting on the same transmission target, it is more performant to specify
them for only one actuator. Since these values are summed anyway, it is recommended to place all damping and
armature for one transmission target in a single actuator definition.
.. _actuator-general-armature:
:at:`armature`: :at-val:`real, "0"`
Armature inertia (or mass for slider joints) contributed by the actuator to its transmission target (joint or tendon
only). This is the actual inertia of the spinning element inside the actuator (e.g., a rotor). The contributed value
is scaled by :ref:`gear<actuator-general-gear>` squared, because the gear ratio scales both forces and velocities,
leading to `reflected inertia <https://en.wikipedia.org/wiki/Reflective_inertia>`__. See
:ref:`joint<body-joint-armature>` and :ref:`tendon<tendon-fixed-armature>` armature for more details.
See also the note in :ref:`damping<actuator-general-damping>` regarding multiple actuators acting on the same
transmission target.
.. _actuator-general-cranklength:
:at:`cranklength`: :at-val:`real, "0"`
@@ -5596,11 +5635,15 @@ This element does not have custom attributes. It only has common attributes, whi
.. _actuator-motor-user:
.. _actuator-motor-damping:
.. _actuator-motor-armature:
.. |actuator/motor attrib list| replace::
:at:`name`, :at:`class`, :at:`group`, :at:`delay`, :at:`ctrllimited`, :at:`forcelimited`, :at:`ctrlrange`,
:at:`forcerange`, :at:`lengthrange`, :at:`gear`, :at:`cranklength`, :at:`joint`, :at:`jointinparent`, :at:`tendon`,
:at:`cranksite`, :at:`slidersite`, :at:`site`, :at:`refsite`, :at:`user`
:at:`cranksite`, :at:`slidersite`, :at:`site`, :at:`refsite`, :at:`user`, :at:`damping`, :at:`armature`
|actuator/motor attrib list|
Same as in actuator/ :ref:`general <actuator-general>`.
@@ -5667,10 +5710,14 @@ This element has one custom attribute in addition to the common attributes:
.. _actuator-position-user:
.. _actuator-position-damping:
.. _actuator-position-armature:
.. |actuator/position attrib list| replace::
:at:`name`, :at:`class`, :at:`group`, :at:`delay`, :at:`ctrllimited`, :at:`forcelimited`, :at:`ctrlrange`,
:at:`forcerange`, :at:`lengthrange`, :at:`gear`, :at:`cranklength`, :at:`joint`, :at:`jointinparent`, :at:`tendon`,
:at:`cranksite`, :at:`slidersite`, :at:`site`, :at:`refsite`, :at:`user`
:at:`cranksite`, :at:`slidersite`, :at:`site`, :at:`refsite`, :at:`user`, :at:`damping`, :at:`armature`
|actuator/position attrib list|
Same as in actuator/ :ref:`general <actuator-general>`.
@@ -5786,10 +5833,14 @@ This element has one custom attribute in addition to the common attributes:
.. _actuator-velocity-user:
.. _actuator-velocity-damping:
.. _actuator-velocity-armature:
.. |actuator/velocity attrib list| replace::
:at:`name`, :at:`class`, :at:`group`, :at:`delay`, :at:`ctrllimited`, :at:`forcelimited`, :at:`ctrlrange`,
:at:`forcerange`, :at:`lengthrange`, :at:`gear`, :at:`cranklength`, :at:`joint`, :at:`jointinparent`, :at:`tendon`,
:at:`cranksite`, :at:`slidersite`, :at:`site`, :at:`refsite`, :at:`user`
:at:`cranksite`, :at:`slidersite`, :at:`site`, :at:`refsite`, :at:`user`, :at:`damping`, :at:`armature`
|actuator/velocity attrib list|
Same as in actuator/ :ref:`general <actuator-general>`.
@@ -5864,10 +5915,14 @@ This element has one custom attribute in addition to the common attributes:
.. _actuator-intvelocity-user:
.. _actuator-intvelocity-damping:
.. _actuator-intvelocity-armature:
.. |actuator/intvelocity attrib list| replace::
:at:`name`, :at:`class`, :at:`group`, :at:`delay`, :at:`ctrllimited`, :at:`forcelimited`, :at:`ctrlrange`,
:at:`forcerange`, :at:`actrange`, :at:`lengthrange`, :at:`gear`, :at:`cranklength`, :at:`joint`, :at:`jointinparent`,
:at:`tendon`, :at:`cranksite`, :at:`slidersite`, :at:`site`, :at:`refsite`, :at:`user`
:at:`tendon`, :at:`cranksite`, :at:`slidersite`, :at:`site`, :at:`refsite`, :at:`user`, :at:`damping`, :at:`armature`
|actuator/intvelocity attrib list|
Same as in actuator/ :ref:`general <actuator-general>`.
@@ -5958,10 +6013,14 @@ This element has one custom attribute in addition to the common attributes:
.. _actuator-damper-user:
.. _actuator-damper-damping:
.. _actuator-damper-armature:
.. |actuator/damper attrib list| replace::
:at:`name`, :at:`class`, :at:`group`, :at:`delay`, :at:`ctrllimited`, :at:`forcelimited`, :at:`ctrlrange`,
:at:`forcerange`, :at:`lengthrange`, :at:`gear`, :at:`cranklength`, :at:`joint`, :at:`jointinparent`, :at:`tendon`,
:at:`cranksite`, :at:`slidersite`, :at:`site`, :at:`refsite`, :at:`user`
:at:`cranksite`, :at:`slidersite`, :at:`site`, :at:`refsite`, :at:`user`, :at:`damping`, :at:`armature`
|actuator/damper attrib list|
Same as in actuator/ :ref:`general <actuator-general>`.
@@ -6033,10 +6092,14 @@ This element has four custom attributes in addition to the common attributes:
.. _actuator-cylinder-user:
.. _actuator-cylinder-damping:
.. _actuator-cylinder-armature:
.. |actuator/cylinder attrib list| replace::
:at:`name`, :at:`class`, :at:`group`, :at:`delay`, :at:`ctrllimited`, :at:`forcelimited`, :at:`ctrlrange`,
:at:`forcerange`, :at:`lengthrange`, :at:`gear`, :at:`cranklength`, :at:`joint`, :at:`jointinparent`, :at:`tendon`,
:at:`cranksite`, :at:`slidersite`, :at:`site`, :at:`refsite`, :at:`user`
:at:`cranksite`, :at:`slidersite`, :at:`site`, :at:`refsite`, :at:`user`, :at:`damping`, :at:`armature`
|actuator/cylinder attrib list|
Same as in actuator/ :ref:`general <actuator-general>`.
@@ -6119,11 +6182,15 @@ This element has nine custom attributes in addition to the common attributes:
.. _actuator-muscle-user:
.. _actuator-muscle-damping:
.. _actuator-muscle-armature:
.. |actuator/muscle attrib list| replace::
:at:`name`, :at:`class`, :at:`group`, :at:`delay`, :at:`ctrllimited`, :at:`forcelimited`, :at:`ctrlrange`,
:at:`forcerange`, :at:`lengthrange`, :at:`gear`, :at:`cranklength`, :at:`joint`, :at:`jointinparent`, :at:`tendon`,
:at:`cranksite`, :at:`slidersite`, :at:`user`
:at:`cranksite`, :at:`slidersite`, :at:`user`, :at:`damping`, :at:`armature`
|actuator/muscle attrib list|
Same as in actuator/ :ref:`general <actuator-general>`.
@@ -6336,11 +6403,15 @@ Associate this actuator with an :ref:`engine plugin<exPlugin>`. Either :at:`plug
.. _actuator-plugin-actearly:
.. _actuator-plugin-damping:
.. _actuator-plugin-armature:
.. |actuator/plugin attrib list| replace::
:at:`name`, :at:`class`, :at:`group`, :at:`delay`, :at:`actlimited`, :at:`ctrllimited`, :at:`forcelimited`,
:at:`ctrlrange`, :at:`forcerange`, :at:`lengthrange`, :at:`gear`, :at:`cranklength`, :at:`joint`,
:at:`jointinparent`, :at:`site`, :at:`tendon`, :at:`cranksite`, :at:`slidersite`, :at:`user`, :at:`actdim`,
:at:`dynprm`, :at:`actearly`
:at:`dynprm`, :at:`actearly`, :at:`damping`, :at:`armature`
|actuator/plugin attrib list|
Same as in actuator/ :ref:`general <actuator-general>`.
@@ -9454,6 +9525,10 @@ if omitted.
.. _default-general-gear:
.. _default-general-damping:
.. _default-general-armature:
.. _default-general-cranklength:
.. _default-general-user:
@@ -9502,6 +9577,10 @@ if omitted.
.. _default-motor-gear:
.. _default-motor-damping:
.. _default-motor-armature:
.. _default-motor-cranklength:
.. _default-motor-user:
@@ -9538,6 +9617,10 @@ tendon, slidersite, cranksite.
.. _default-position-gear:
.. _default-position-damping:
.. _default-position-armature:
.. _default-position-cranklength:
.. _default-position-user:
@@ -9577,6 +9660,10 @@ refsite, tendon, slidersite, cranksite.
.. _default-velocity-gear:
.. _default-velocity-damping:
.. _default-velocity-armature:
.. _default-velocity-cranklength:
.. _default-velocity-user:
@@ -9614,6 +9701,10 @@ refsite, tendon, slidersite, cranksite.
.. _default-intvelocity-gear:
.. _default-intvelocity-damping:
.. _default-intvelocity-armature:
.. _default-intvelocity-cranklength:
.. _default-intvelocity-user:
@@ -9649,6 +9740,10 @@ site, refsite, tendon, slidersite, cranksite.
.. _default-damper-gear:
.. _default-damper-damping:
.. _default-damper-armature:
.. _default-damper-cranklength:
.. _default-damper-user:
@@ -9682,6 +9777,10 @@ refsite, tendon, slidersite, cranksite.
.. _default-cylinder-gear:
.. _default-cylinder-damping:
.. _default-cylinder-armature:
.. _default-cylinder-cranklength:
.. _default-cylinder-user:
@@ -9721,6 +9820,10 @@ refsite, tendon, slidersite, cranksite.
.. _default-muscle-gear:
.. _default-muscle-damping:
.. _default-muscle-armature:
.. _default-muscle-cranklength:
.. _default-muscle-user:
doc/XMLschema.rst
+102
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@@ -2287,6 +2287,12 @@
.. grid-item::
:ref:`gear<actuator-general-gear>`
.. grid-item::
:ref:`damping<actuator-general-damping>`
.. grid-item::
:ref:`armature<actuator-general-armature>`
.. grid-item::
:ref:`cranklength<actuator-general-cranklength>`
@@ -2383,6 +2389,12 @@
.. grid-item::
:ref:`gear<actuator-motor-gear>`
.. grid-item::
:ref:`damping<actuator-motor-damping>`
.. grid-item::
:ref:`armature<actuator-motor-armature>`
.. grid-item::
:ref:`cranklength<actuator-motor-cranklength>`
@@ -2455,6 +2467,12 @@
.. grid-item::
:ref:`gear<actuator-position-gear>`
.. grid-item::
:ref:`damping<actuator-position-damping>`
.. grid-item::
:ref:`armature<actuator-position-armature>`
.. grid-item::
:ref:`cranklength<actuator-position-cranklength>`
@@ -2536,6 +2554,12 @@
.. grid-item::
:ref:`gear<actuator-velocity-gear>`
.. grid-item::
:ref:`damping<actuator-velocity-damping>`
.. grid-item::
:ref:`armature<actuator-velocity-armature>`
.. grid-item::
:ref:`cranklength<actuator-velocity-cranklength>`
@@ -2614,6 +2638,12 @@
.. grid-item::
:ref:`gear<actuator-intvelocity-gear>`
.. grid-item::
:ref:`damping<actuator-intvelocity-damping>`
.. grid-item::
:ref:`armature<actuator-intvelocity-armature>`
.. grid-item::
:ref:`cranklength<actuator-intvelocity-cranklength>`
@@ -2689,6 +2719,12 @@
.. grid-item::
:ref:`gear<actuator-damper-gear>`
.. grid-item::
:ref:`damping<actuator-damper-damping>`
.. grid-item::
:ref:`armature<actuator-damper-armature>`
.. grid-item::
:ref:`cranklength<actuator-damper-cranklength>`
@@ -2761,6 +2797,12 @@
.. grid-item::
:ref:`gear<actuator-cylinder-gear>`
.. grid-item::
:ref:`damping<actuator-cylinder-damping>`
.. grid-item::
:ref:`armature<actuator-cylinder-armature>`
.. grid-item::
:ref:`cranklength<actuator-cylinder-cranklength>`
@@ -2842,6 +2884,12 @@
.. grid-item::
:ref:`gear<actuator-muscle-gear>`
.. grid-item::
:ref:`damping<actuator-muscle-damping>`
.. grid-item::
:ref:`armature<actuator-muscle-armature>`
.. grid-item::
:ref:`cranklength<actuator-muscle-cranklength>`
@@ -2989,6 +3037,12 @@
.. grid-item::
:ref:`gear<actuator-plugin-gear>`
.. grid-item::
:ref:`damping<actuator-plugin-damping>`
.. grid-item::
:ref:`armature<actuator-plugin-armature>`
.. grid-item::
:ref:`cranklength<actuator-plugin-cranklength>`
@@ -5623,6 +5677,12 @@
.. grid-item::
:ref:`gear<default-general-gear>`
.. grid-item::
:ref:`damping<default-general-damping>`
.. grid-item::
:ref:`armature<default-general-armature>`
.. grid-item::
:ref:`cranklength<default-general-cranklength>`
@@ -5686,6 +5746,12 @@
.. grid-item::
:ref:`gear<default-motor-gear>`
.. grid-item::
:ref:`damping<default-motor-damping>`
.. grid-item::
:ref:`armature<default-motor-armature>`
.. grid-item::
:ref:`cranklength<default-motor-cranklength>`
@@ -5728,6 +5794,12 @@
.. grid-item::
:ref:`gear<default-position-gear>`
.. grid-item::
:ref:`damping<default-position-damping>`
.. grid-item::
:ref:`armature<default-position-armature>`
.. grid-item::
:ref:`cranklength<default-position-cranklength>`
@@ -5779,6 +5851,12 @@
.. grid-item::
:ref:`gear<default-velocity-gear>`
.. grid-item::
:ref:`damping<default-velocity-damping>`
.. grid-item::
:ref:`armature<default-velocity-armature>`
.. grid-item::
:ref:`cranklength<default-velocity-cranklength>`
@@ -5827,6 +5905,12 @@
.. grid-item::
:ref:`gear<default-intvelocity-gear>`
.. grid-item::
:ref:`damping<default-intvelocity-damping>`
.. grid-item::
:ref:`armature<default-intvelocity-armature>`
.. grid-item::
:ref:`cranklength<default-intvelocity-cranklength>`
@@ -5872,6 +5956,12 @@
.. grid-item::
:ref:`gear<default-damper-gear>`
.. grid-item::
:ref:`damping<default-damper-damping>`
.. grid-item::
:ref:`armature<default-damper-armature>`
.. grid-item::
:ref:`cranklength<default-damper-cranklength>`
@@ -5914,6 +6004,12 @@
.. grid-item::
:ref:`gear<default-cylinder-gear>`
.. grid-item::
:ref:`damping<default-cylinder-damping>`
.. grid-item::
:ref:`armature<default-cylinder-armature>`
.. grid-item::
:ref:`cranklength<default-cylinder-cranklength>`
@@ -5965,6 +6061,12 @@
.. grid-item::
:ref:`gear<default-muscle-gear>`
.. grid-item::
:ref:`damping<default-muscle-damping>`
.. grid-item::
:ref:`armature<default-muscle-armature>`
.. grid-item::
:ref:`cranklength<default-muscle-cranklength>`
doc/changelog.rst
+5
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@@ -8,6 +8,11 @@ Upcoming version (not yet released)
General
^^^^^^^
- Actuators with joint or tendon transmissions can now contribute
:ref:`damping<actuator-general-damping>` and :ref:`armature<actuator-general-armature>` to their transmission target.
These are applied during the passive force and inertia computations, respectively, and are scaled by gear\ :sup:`2`
("reflected" damping/inertia).
.. youtube:: aKa3ZlEF9_Y
:align: right
:width: 35%
doc/includes/references.h
+7
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@@ -1171,6 +1171,7 @@ struct mjModel_ {
int* jnt_qposadr; // start addr in 'qpos' for joint's data (njnt x 1)
int* jnt_dofadr; // start addr in 'qvel' for joint's data (njnt x 1)
int* jnt_bodyid; // id of joint's body (njnt x 1)
int* jnt_actuatorid; // actuator contributing damping / armature (njnt x 1)
int* jnt_group; // group for visibility (njnt x 1)
mjtByte* jnt_limited; // does joint have limits (njnt x 1)
mjtByte* jnt_actfrclimited; // does joint have actuator force limits (njnt x 1)
@@ -1487,6 +1488,7 @@ struct mjModel_ {
int* tendon_adr; // address of first object in tendon's path (ntendon x 1)
int* tendon_num; // number of objects in tendon's path (ntendon x 1)
int* tendon_matid; // material id for rendering (ntendon x 1)
int* tendon_actuatorid; // actuator contributing damping / armature (ntendon x 1)
int* tendon_group; // group for visibility (ntendon x 1)
int* tendon_treenum; // number of trees along tendon's path (ntendon x 1)
int* tendon_treeid; // first two trees along tendon's path (ntendon x 2)
@@ -1526,6 +1528,9 @@ struct mjModel_ {
int* actuator_gaintype; // gain type (mjtGain) (nu x 1)
int* actuator_biastype; // bias type (mjtBias) (nu x 1)
int* actuator_trnid; // transmission id: joint, tendon, site (nu x 2)
mjtNum* actuator_damping; // linear damping coefficient (nu x 1)
mjtNum* actuator_dampingpoly; // high-order damping coefficients (nu x mjNPOLY)
mjtNum* actuator_armature; // armature added to target (joint, tendon) (nu x 1)
int* actuator_actadr; // first activation address; -1: stateless (nu x 1)
int* actuator_actnum; // number of activation variables (nu x 1)
int* actuator_group; // group for visibility (nu x 1)
@@ -2449,6 +2454,8 @@ typedef struct mjsActuator_ { // actuator specification
double cranklength; // crank length, for slider-crank
double lengthrange[2]; // transmission length range
double inheritrange; // automatic range setting for position and intvelocity
double damping[mjNPOLY+1]; // damping coefficients
double armature; // armature inertia
// input/output clamping
int ctrllimited; // are control limits defined (mjtLimited)
include/mujoco/mjmodel.h
+5
View File
@@ -833,6 +833,7 @@ struct mjModel_ {
int* jnt_qposadr; // start addr in 'qpos' for joint's data (njnt x 1)
int* jnt_dofadr; // start addr in 'qvel' for joint's data (njnt x 1)
int* jnt_bodyid; // id of joint's body (njnt x 1)
int* jnt_actuatorid; // actuator contributing damping / armature (njnt x 1)
int* jnt_group; // group for visibility (njnt x 1)
mjtByte* jnt_limited; // does joint have limits (njnt x 1)
mjtByte* jnt_actfrclimited; // does joint have actuator force limits (njnt x 1)
@@ -1149,6 +1150,7 @@ struct mjModel_ {
int* tendon_adr; // address of first object in tendon's path (ntendon x 1)
int* tendon_num; // number of objects in tendon's path (ntendon x 1)
int* tendon_matid; // material id for rendering (ntendon x 1)
int* tendon_actuatorid; // actuator contributing damping / armature (ntendon x 1)
int* tendon_group; // group for visibility (ntendon x 1)
int* tendon_treenum; // number of trees along tendon's path (ntendon x 1)
int* tendon_treeid; // first two trees along tendon's path (ntendon x 2)
@@ -1188,6 +1190,9 @@ struct mjModel_ {
int* actuator_gaintype; // gain type (mjtGain) (nu x 1)
int* actuator_biastype; // bias type (mjtBias) (nu x 1)
int* actuator_trnid; // transmission id: joint, tendon, site (nu x 2)
mjtNum* actuator_damping; // linear damping coefficient (nu x 1)
mjtNum* actuator_dampingpoly; // high-order damping coefficients (nu x mjNPOLY)
mjtNum* actuator_armature; // armature added to target (joint, tendon) (nu x 1)
int* actuator_actadr; // first activation address; -1: stateless (nu x 1)
int* actuator_actnum; // number of activation variables (nu x 1)
int* actuator_group; // group for visibility (nu x 1)
include/mujoco/mjspec.h
+2
View File
@@ -686,6 +686,8 @@ typedef struct mjsActuator_ { // actuator specification
double cranklength; // crank length, for slider-crank
double lengthrange[2]; // transmission length range
double inheritrange; // automatic range setting for position and intvelocity
double damping[mjNPOLY+1]; // damping coefficients
double armature; // armature inertia
// input/output clamping
int ctrllimited; // are control limits defined (mjtLimited)
include/mujoco/mjxmacro.h
+5
View File
@@ -314,6 +314,7 @@
X ( int, jnt_qposadr, njnt, 1 ) \
X ( int, jnt_dofadr, njnt, 1 ) \
X ( int, jnt_bodyid, njnt, 1 ) \
X ( int, jnt_actuatorid, njnt, 1 ) \
X ( int, jnt_group, njnt, 1 ) \
X ( mjtByte, jnt_limited, njnt, 1 ) \
X ( mjtByte, jnt_actfrclimited, njnt, 1 ) \
@@ -628,6 +629,7 @@
X ( int, tendon_adr, ntendon, 1 ) \
X ( int, tendon_num, ntendon, 1 ) \
X ( int, tendon_matid, ntendon, 1 ) \
X ( int, tendon_actuatorid, ntendon, 1 ) \
X ( int, tendon_group, ntendon, 1 ) \
X ( int, tendon_treenum, ntendon, 1 ) \
X ( int, tendon_treeid, ntendon, 2 ) \
@@ -662,6 +664,9 @@
X ( int, actuator_gaintype, nu, 1 ) \
X ( int, actuator_biastype, nu, 1 ) \
X ( int, actuator_trnid, nu, 2 ) \
X ( mjtNum, actuator_damping, nu, 1 ) \
X ( mjtNum, actuator_dampingpoly, nu, mjNPOLY ) \
X ( mjtNum, actuator_armature, nu, 1 ) \
X ( int, actuator_actadr, nu, 1 ) \
X ( int, actuator_actnum, nu, 1 ) \
X ( int, actuator_group, nu, 1 ) \
python/mujoco/introspect/structs.py
+53
View File
@@ -1663,6 +1663,14 @@ STRUCTS: Mapping[str, StructDecl] = dict([
doc="id of joint's body",
array_extent=('njnt',),
),
StructFieldDecl(
name='jnt_actuatorid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='actuator contributing damping / armature',
array_extent=('njnt',),
),
StructFieldDecl(
name='jnt_group',
type=PointerType(
@@ -3919,6 +3927,14 @@ STRUCTS: Mapping[str, StructDecl] = dict([
doc='material id for rendering',
array_extent=('ntendon',),
),
StructFieldDecl(
name='tendon_actuatorid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='actuator contributing damping / armature',
array_extent=('ntendon',),
),
StructFieldDecl(
name='tendon_group',
type=PointerType(
@@ -4199,6 +4215,30 @@ STRUCTS: Mapping[str, StructDecl] = dict([
doc='transmission id: joint, tendon, site',
array_extent=('nu', 2),
),
StructFieldDecl(
name='actuator_damping',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='linear damping coefficient',
array_extent=('nu',),
),
StructFieldDecl(
name='actuator_dampingpoly',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='high-order damping coefficients',
array_extent=('nu', 'mjNPOLY'),
),
StructFieldDecl(
name='actuator_armature',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='armature added to target (joint, tendon)',
array_extent=('nu',),
),
StructFieldDecl(
name='actuator_actadr',
type=PointerType(
@@ -9242,6 +9282,19 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='double'),
doc='automatic range setting for position and intvelocity',
),
StructFieldDecl(
name='damping',
type=ArrayType(
inner_type=ValueType(name='double'),
extents=(3,),
),
doc='damping coefficients',
),
StructFieldDecl(
name='armature',
type=ValueType(name='double'),
doc='armature inertia',
),
StructFieldDecl(
name='ctrllimited',
type=ValueType(name='int'),
src/engine/engine_core_smooth.c
+3 -3
View File
@@ -1712,7 +1712,7 @@ void mj_tendonArmature(const mjModel* m, mjData* d) {
continue;
}
mjtNum armature = m->tendon_armature[k];
mjtNum armature = m->tendon_armature[k] + mj_actuatorArmature(m, mjOBJ_TENDON, k);
if (!armature) {
continue;
}
@@ -1803,7 +1803,7 @@ void mj_crb(const mjModel* m, mjData* d) {
// init M(i,i) with armature inertia
int Madr_ij = adr + rownnz[i] - 1;
M[Madr_ij] = dof_armature[i];
M[Madr_ij] = dof_armature[i] + mj_actuatorArmature(m, mjOBJ_JOINT, m->dof_jntid[i]);
// precompute buf = crb_body_i * cdof_i
mjtNum buf[6];
@@ -2643,7 +2643,7 @@ void mj_tendonBias(const mjModel* m, mjData* d, mjtNum* qfrc) {
continue;
}
mjtNum armature = m->tendon_armature[i];
mjtNum armature = m->tendon_armature[i] + mj_actuatorArmature(m, mjOBJ_TENDON, i);
// no armature: skip
if (!armature) {
src/engine/engine_core_util.c
+106 -3
View File
@@ -693,9 +693,9 @@ void mj_angmomMat(const mjModel* m, mjData* d, mjtNum* mat, int body) {
// save the inertia matrix of b-th body
mjtNum inertia[9] = {0};
inertia[0] = m->body_inertia[3*b]; // inertia(1,1)
inertia[4] = m->body_inertia[3*b+1]; // inertia(2,2)
inertia[8] = m->body_inertia[3*b+2]; // inertia(3,3)
inertia[0] = m->body_inertia[3*b+0]; // inertia(1,1)
inertia[4] = m->body_inertia[3*b+1]; // inertia(2,2)
inertia[8] = m->body_inertia[3*b+2]; // inertia(3,3)
// term1 = body angular momentum about self COM in world frame
mjtNum tmp1[9], tmp2[9];
@@ -942,6 +942,109 @@ int tendonLimit(const mjModel* m, const mjtNum* ten_length, int i) {
}
// return actuator damping contribution to joint or tendon
mjtNum mj_actuatorDamping(const mjModel* m, mjtObj type, int id, mjtNum poly[mjNPOLY]) {
if (type != mjOBJ_TENDON && type != mjOBJ_JOINT) {
mjERROR("only joint and tendon objects can inherit damping from actuators");
return 0;
}
// get actuator id
int actuatorid = type == mjOBJ_JOINT ? m->jnt_actuatorid[id] : m->tendon_actuatorid[id];
if (actuatorid == -1) {
return 0;
}
mjtNum damping = 0;
// single actuator contributes damping
if (actuatorid >= 0) {
mjtNum gear2 = m->actuator_gear[6*actuatorid] * m->actuator_gear[6*actuatorid];
damping = m->actuator_damping[actuatorid] * gear2;
for (int k = 0; k < mjNPOLY; k++) {
poly[k] += m->actuator_dampingpoly[mjNPOLY*actuatorid+k] * gear2;
}
}
// actuatorid < -1: scan all actuators for contributions
else {
for (int k = 0; k < m->nu; k++) {
// skip actuators that don't actuate the given joint/tendon
if (m->actuator_trnid[2*k] != id) {
continue;
}
if (type == mjOBJ_JOINT &&
m->actuator_trntype[k] != mjTRN_JOINT &&
m->actuator_trntype[k] != mjTRN_JOINTINPARENT) {
continue;
}
if (type == mjOBJ_TENDON && m->actuator_trntype[k] != mjTRN_TENDON) {
continue;
}
// accumulate damping contribution
mjtNum gear2 = m->actuator_gear[6*k] * m->actuator_gear[6*k];
damping += m->actuator_damping[k] * gear2;
for (int j = 0; j < mjNPOLY; j++) {
poly[j] += m->actuator_dampingpoly[mjNPOLY*k+j] * gear2;
}
}
}
return damping;
}
// return actuator armature contribution to joint or tendon
mjtNum mj_actuatorArmature(const mjModel* m, mjtObj type, int id) {
if (type != mjOBJ_TENDON && type != mjOBJ_JOINT) {
mjERROR("only joint and tendon objects can inherit armature from actuators");
return 0;
}
// get actuator id
int actuatorid = type == mjOBJ_JOINT ? m->jnt_actuatorid[id] : m->tendon_actuatorid[id];
// no actuator contribution
if (actuatorid == -1) {
return 0;
}
mjtNum armature = 0;
// single actuator contributes armature
if (actuatorid >= 0) {
mjtNum gear2 = m->actuator_gear[6*actuatorid] * m->actuator_gear[6*actuatorid];
armature = m->actuator_armature[actuatorid] * gear2;
}
// actuatorid < -1: scan all actuators for contributions
else {
for (int k = 0; k < m->nu; k++) {
// skip actuators that don't actuate the given joint/tendon
if (m->actuator_trnid[2*k] != id) {
continue;
}
if (type == mjOBJ_JOINT &&
m->actuator_trntype[k] != mjTRN_JOINT &&
m->actuator_trntype[k] != mjTRN_JOINTINPARENT) {
continue;
}
if (type == mjOBJ_TENDON && m->actuator_trntype[k] != mjTRN_TENDON) {
continue;
}
// accumulate armature contribution
mjtNum gear2 = m->actuator_gear[6*k] * m->actuator_gear[6*k];
armature += m->actuator_armature[k] * gear2;
}
}
return armature;
}
// count warnings, print only the first time
void mj_warning(mjData* d, int warning, int info) {
// check type
src/engine/engine_core_util.h
+6
View File
@@ -129,6 +129,12 @@ MJAPI void mj_contactForce(const mjModel* m, const mjData* d, int id, mjtNum res
// count the number of length limit violations for tendon i (0, 1 or 2)
int tendonLimit(const mjModel* m, const mjtNum* ten_length, int i);
// return actuator damping contribution to joint or tendon
MJAPI mjtNum mj_actuatorDamping(const mjModel* m, mjtObj type, int id, mjtNum poly[mjNPOLY]);
// return actuator armature contribution to joint or tendon
MJAPI mjtNum mj_actuatorArmature(const mjModel* m, mjtObj type, int id);
// high-level warning function: count warnings in mjData, print only the first time
MJAPI void mj_warning(mjData* d, int warning, int info);
src/engine/engine_derivative.c
+8 -3
View File
@@ -1734,9 +1734,11 @@ void mjd_passive_vel(const mjModel* m, mjData* d) {
for (int j = 0; j < nv_awake; j++) {
int i = sleep_filter ? d->dof_awake_ind[j] : j;
mjtNum v = d->qvel[i];
const mjtNum* poly = m->dof_dampingpoly + mjNPOLY*i;
mjtNum poly[mjNPOLY];
mju_copy(poly, m->dof_dampingpoly + mjNPOLY*i, mjNPOLY);
mjtNum damping = m->dof_damping[i] + mj_actuatorDamping(m, mjOBJ_JOINT, m->dof_jntid[i], poly);
int adr = m->D_rowadr[i] + m->D_diag[i];
d->qDeriv[adr] -= mjd_xPolyForce(m->dof_damping[i], poly, v, mjNPOLY, 1);
d->qDeriv[adr] -= mjd_xPolyForce(damping, poly, v, mjNPOLY, 1);
}
// flex edge damping
@@ -1775,7 +1777,10 @@ void mjd_passive_vel(const mjModel* m, mjData* d) {
}
mjtNum v = d->ten_velocity[i];
mjtNum B = -mjd_xPolyForce(m->tendon_damping[i], m->tendon_dampingpoly+mjNPOLY*i, v, mjNPOLY, 1);
mjtNum poly[mjNPOLY];
mju_copy(poly, m->tendon_dampingpoly+mjNPOLY*i, mjNPOLY);
mjtNum damping = m->tendon_damping[i] + mj_actuatorDamping(m, mjOBJ_TENDON, i, poly);
mjtNum B = -mjd_xPolyForce(damping, poly, v, mjNPOLY, 1);
if (!B) {
continue;
src/engine/engine_forward.c
+9 -4
View File
@@ -26,8 +26,8 @@
#include "engine/engine_collision_driver.h"
#include "engine/engine_core_constraint.h"
#include "engine/engine_core_smooth.h"
#include "engine/engine_derivative.h"
#include "engine/engine_core_util.h"
#include "engine/engine_derivative.h"
#include "engine/engine_inverse.h"
#include "engine/engine_island.h"
#include "engine/engine_macro.h"
@@ -953,7 +953,9 @@ void mj_EulerSkip(const mjModel* m, mjData* d, int skipfactor) {
if (!mjDISABLED(mjDSBL_EULERDAMP) && !mjDISABLED(mjDSBL_DAMPER)) {
for (int v=0; v < nv; v++) {
int i = sleep_filter ? dof_awake_ind[v] : v;
if (m->dof_damping[i] > 0 || !mju_isZero(m->dof_dampingpoly + mjNPOLY*i, mjNPOLY)) {
if (m->dof_damping[i] > 0 ||
!mju_isZero(m->dof_dampingpoly + mjNPOLY*i, mjNPOLY) ||
m->jnt_actuatorid[m->dof_jntid[i]] != -1) {
dof_damping = 1;
break;
}
@@ -983,8 +985,11 @@ void mj_EulerSkip(const mjModel* m, mjData* d, int skipfactor) {
for (int v=0; v < nv; v++) {
int i = sleep_filter ? dof_awake_ind[v] : v;
mjtNum qv = d->qvel[i];
const mjtNum* poly = m->dof_dampingpoly + mjNPOLY*i;
mjtNum damp_deriv = mjd_xPolyForce(m->dof_damping[i], poly, qv, mjNPOLY, 1);
mjtNum poly[mjNPOLY];
mju_copy(poly, m->dof_dampingpoly + mjNPOLY*i, mjNPOLY);
mjtNum damping = m->dof_damping[i]
+ mj_actuatorDamping(m, mjOBJ_JOINT, m->dof_jntid[i], poly);
mjtNum damp_deriv = mjd_xPolyForce(damping, poly, qv, mjNPOLY, 1);
d->qH[m->M_rowadr[i] + m->M_rownnz[i] - 1] += m->opt.timestep * damp_deriv;
}
src/engine/engine_inverse.c
+9 -3
View File
@@ -23,6 +23,7 @@
#include "engine/engine_collision_driver.h"
#include "engine/engine_core_constraint.h"
#include "engine/engine_core_smooth.h"
#include "engine/engine_core_util.h"
#include "engine/engine_derivative.h"
#include "engine/engine_memory.h"
#include "engine/engine_macro.h"
@@ -92,7 +93,9 @@ static void mj_discreteAcc(const mjModel* m, mjData* d) {
dof_damping = 0;
if (!mjDISABLED(mjDSBL_EULERDAMP)) {
for (int i=0; i < nv; i++) {
if (m->dof_damping[i] > 0 || !mju_isZero(m->dof_dampingpoly + mjNPOLY*i, mjNPOLY)) {
if (m->dof_damping[i] > 0 ||
!mju_isZero(m->dof_dampingpoly + mjNPOLY*i, mjNPOLY) ||
m->jnt_actuatorid[m->dof_jntid[i]] != -1) {
dof_damping = 1;
break;
}
@@ -109,8 +112,11 @@ static void mj_discreteAcc(const mjModel* m, mjData* d) {
mj_mulM(m, d, qfrc, qacc);
for (int i=0; i < nv; i++) {
mjtNum v = d->qvel[i];
const mjtNum* poly = m->dof_dampingpoly + mjNPOLY*i;
mjtNum damp_deriv = mjd_xPolyForce(m->dof_damping[i], poly, v, mjNPOLY, 1);
mjtNum poly[mjNPOLY];
mju_copy(poly, m->dof_dampingpoly + mjNPOLY*i, mjNPOLY);
mjtNum damping = m->dof_damping[i]
+ mj_actuatorDamping(m, mjOBJ_JOINT, m->dof_jntid[i], poly);
mjtNum damp_deriv = mjd_xPolyForce(damping, poly, v, mjNPOLY, 1);
qfrc[i] += m->opt.timestep * damp_deriv * d->qacc[i];
}
break;
src/engine/engine_passive.c
+39 -27
View File
@@ -117,13 +117,13 @@ void mj_flexInterpState(const mjModel* m, mjData* d, int f,
// spring and damper forces
static void mj_springdamper(const mjModel* m, mjData* d) {
int nv = m->nv, ntendon = m->ntendon;
int has_spring = !mjDISABLED(mjDSBL_SPRING);
int has_damping = !mjDISABLED(mjDSBL_DAMPER);
int enbl_spring = !mjDISABLED(mjDSBL_SPRING);
int enbl_damper = !mjDISABLED(mjDSBL_DAMPER);
int sleep_filter = mjENABLED(mjENBL_SLEEP) && d->ntree_awake < m->ntree;
int nbody = sleep_filter ? d->nbody_awake : m->nbody;
// joint-level springs
if (has_spring) {
if (enbl_spring) {
for (int b=0; b < nbody; b++) {
int i = sleep_filter ? d->body_awake_ind[b] : b;
int jnt_start = m->body_jntadr[i];
@@ -184,12 +184,14 @@ static void mj_springdamper(const mjModel* m, mjData* d) {
}
// dof-level dampers
if (has_damping) {
if (enbl_damper) {
int nv_awake = sleep_filter ? d->nv_awake : nv;
for (int j = 0; j < nv_awake; j++) {
int i = sleep_filter ? d->dof_awake_ind[j] : j;
mjtNum damping = m->dof_damping[i];
const mjtNum* poly = m->dof_dampingpoly + mjNPOLY*i;
mjtNum poly[mjNPOLY];
mju_copy(poly, m->dof_dampingpoly + mjNPOLY*i, mjNPOLY);
mjtNum damping = m->dof_damping[i]
+ mj_actuatorDamping(m, mjOBJ_JOINT, m->dof_jntid[i], poly);
if (damping != 0 || !mju_isZero(poly, mjNPOLY)) {
mjtNum v = d->qvel[i];
d->qfrc_damper[i] = -v * mju_polyForce(damping, poly, v, mjNPOLY, 1);
@@ -252,14 +254,15 @@ static void mj_springdamper(const mjModel* m, mjData* d) {
for (int x = 0; x < 3; x++) {
for (int j = 0; j < 4; j++) {
// thin plate bending force
if (has_spring) spring[3*i+x] += b[17*e+4*i+j] * xpos[3*v[j]+x];
if (enbl_spring) spring[3*i+x] += b[17*e+4*i+j] * xpos[3*v[j]+x];
// thin plate damping force
// TODO: do not assume DOFs are in the world frame
if (has_damping) damper[3*i+x] += b[17*e+4*i+j] * vel[j][x];
if (enbl_damper) damper[3*i+x] += b[17*e+4*i+j] * vel[j][x];
}
// curved reference contribution
if (has_spring) spring[3*i+x] += b[17*e+16] * frc[i][x];
if (enbl_spring) spring[3*i+x] += b[17*e+16] * frc[i][x];
}
}
@@ -269,8 +272,8 @@ static void mj_springdamper(const mjModel* m, mjData* d) {
int body_dofnum = m->body_dofnum[bid];
int body_dofadr = m->body_dofadr[bid];
for (int x = 0; x < body_dofnum; x++) {
if (has_spring) d->qfrc_spring[body_dofadr+x] -= spring[3*i+x];
if (has_damping) d->qfrc_damper[body_dofadr+x] -= damper[3*i+x] * m->flex_damping[f];
if (enbl_spring) d->qfrc_spring[body_dofadr+x] -= spring[3*i+x];
if (enbl_damper) d->qfrc_damper[body_dofadr+x] -= damper[3*i+x] * m->flex_damping[f];
}
}
}
@@ -299,10 +302,10 @@ static void mj_springdamper(const mjModel* m, mjData* d) {
}
// compute force in the stretch frame
if (has_spring) mju_mulMatVec(frc, k, displ, 3*nodenum, 3*nodenum);
if (enbl_spring) mju_mulMatVec(frc, k, displ, 3*nodenum, 3*nodenum);
// compute damping force in stretch frame
if (has_damping) mju_mulMatVec(dmp, k, vel, 3*nodenum, 3*nodenum);
if (enbl_damper) mju_mulMatVec(dmp, k, vel, 3*nodenum, 3*nodenum);
// rotate forces to global frame and add to qfrc
mju_negQuat(quat, quat);
@@ -312,11 +315,11 @@ static void mj_springdamper(const mjModel* m, mjData* d) {
mji_rotVecQuat(qdmp, dmp+3*i, quat);
mju_scl3(qdmp, qdmp, m->flex_damping[f]);
if (m->flex_centered[f]) {
if (has_spring) mji_addTo3(d->qfrc_spring+m->body_dofadr[bodyid[i]], qfrc);
if (has_damping) mji_addTo3(d->qfrc_damper+m->body_dofadr[bodyid[i]], qdmp);
if (enbl_spring) mji_addTo3(d->qfrc_spring+m->body_dofadr[bodyid[i]], qfrc);
if (enbl_damper) mji_addTo3(d->qfrc_damper+m->body_dofadr[bodyid[i]], qdmp);
} else {
if (has_spring) mj_applyFT(m, d, qfrc, 0, xpos+3*i, bodyid[i], d->qfrc_spring);
if (has_damping) mj_applyFT(m, d, qdmp, 0, xpos+3*i, bodyid[i], d->qfrc_damper);
if (enbl_spring) mj_applyFT(m, d, qfrc, 0, xpos+3*i, bodyid[i], d->qfrc_spring);
if (enbl_damper) mj_applyFT(m, d, qdmp, 0, xpos+3*i, bodyid[i], d->qfrc_damper);
}
}
@@ -420,8 +423,8 @@ static void mj_springdamper(const mjModel* m, mjData* d) {
// flexedge-level spring-dampers
for (int f=0; f < m->nflex; f++) {
mjtNum stiffness = m->flex_edgestiffness[f] * has_spring;
mjtNum damping = m->flex_edgedamping[f] * has_damping;
mjtNum stiffness = enbl_spring ? m->flex_edgestiffness[f] : 0;
mjtNum damping = enbl_damper ? m->flex_edgedamping[f] : 0;
// disabled or rigid: nothing to do
if (m->flex_rigid[f] || (stiffness == 0 && damping == 0)) {
@@ -458,13 +461,22 @@ static void mj_springdamper(const mjModel* m, mjData* d) {
continue;
}
mjtNum stiffness = m->tendon_stiffness[i] * has_spring;
const mjtNum* spoly = m->tendon_stiffnesspoly + mjNPOLY*i;
mjtNum damping = m->tendon_damping[i] * has_damping;
const mjtNum* dpoly = m->tendon_dampingpoly + mjNPOLY*i;
mjtNum stiffness = 0;
const mjtNum* spoly = NULL;
if (enbl_spring) {
stiffness = m->tendon_stiffness[i];
spoly = m->tendon_stiffnesspoly + mjNPOLY*i;
}
// disabled : nothing to do
if (stiffness == 0 && mju_isZero(spoly, mjNPOLY) &&
mjtNum damping = 0;
mjtNum dpoly[mjNPOLY] = {0};
if (enbl_damper) {
mju_copy(dpoly, m->tendon_dampingpoly + mjNPOLY*i, mjNPOLY);
damping = m->tendon_damping[i] + mj_actuatorDamping(m, mjOBJ_TENDON, i, dpoly);
}
// both zero: nothing to do
if (stiffness == 0 && (!enbl_spring || mju_isZero(spoly, mjNPOLY)) &&
damping == 0 && mju_isZero(dpoly, mjNPOLY)) {
continue;
}
@@ -474,11 +486,11 @@ static void mj_springdamper(const mjModel* m, mjData* d) {
mjtNum lower = m->tendon_lengthspring[2*i];
mjtNum upper = m->tendon_lengthspring[2*i+1];
mjtNum x = (length > upper) ? length - upper : (length < lower) ? length - lower : 0;
mjtNum frc_spring = has_spring ? -x * mju_polyForce(stiffness, spoly, x, mjNPOLY, 0) : 0;
mjtNum frc_spring = enbl_spring ? -x * mju_polyForce(stiffness, spoly, x, mjNPOLY, 0) : 0;
// compute damper force along tendon
mjtNum v = d->ten_velocity[i];
mjtNum frc_damper = has_damping ? -v * mju_polyForce(damping, dpoly, v, mjNPOLY, 1) : 0;
mjtNum frc_damper = enbl_damper ? -v * mju_polyForce(damping, dpoly, v, mjNPOLY, 1) : 0;
// transform to joint torque, add to qfrc_{spring, damper}
if (frc_spring || frc_damper) {
src/engine/engine_setconst.c
+46 -2
View File
@@ -54,7 +54,8 @@ static void mj_setM0(mjModel* m, mjData* d) {
mju_mulInertVec(buf, crb+10*m->dof_bodyid[i], d->cdof+6*i);
// dof_M0(i) = armature inertia + cdof_i * (crb_body_i * cdof_i)
m->dof_M0[i] = m->dof_armature[i] + mju_dot(d->cdof+6*i, buf, 6);
mjtNum armature = m->dof_armature[i] + mj_actuatorArmature(m, mjOBJ_JOINT, m->dof_jntid[i]);
m->dof_M0[i] = armature + mju_dot(d->cdof+6*i, buf, 6);
}
}
@@ -102,6 +103,48 @@ static void setFixed(mjModel* m, mjData* d) {
}
m->ngravcomp = ngravcomp;
// set jnt_actuatorid and tendon_actuatorid
mju_fillInt(m->jnt_actuatorid, -1, m->njnt);
mju_fillInt(m->tendon_actuatorid, -1, m->ntendon);
for (int i=0; i < m->nu; i++) {
// skip actuator with no damping and no armature
if (m->actuator_damping[i] == 0 &&
mju_isZero(m->actuator_dampingpoly+mjNPOLY*i, mjNPOLY) &&
m->actuator_armature[i] == 0) {
continue;
}
// joint or jointinparent transmission
if (m->actuator_trntype[i] == mjTRN_JOINT ||
m->actuator_trntype[i] == mjTRN_JOINTINPARENT) {
int jntid = m->actuator_trnid[2*i];
// first actuator: set id to i
if (m->jnt_actuatorid[jntid] == -1) {
m->jnt_actuatorid[jntid] = i;
}
// multiple actuators acting on single transmission: use -2 sentinel
else {
m->jnt_actuatorid[jntid] = -2;
}
}
// tendon transmission
else if (m->actuator_trntype[i] == mjTRN_TENDON) {
int tenid = m->actuator_trnid[2*i];
// first actuator: set id to i
if (m->tendon_actuatorid[tenid] == -1) {
m->tendon_actuatorid[tenid] = i;
}
// multiple actuators acting on single transmission: use -2 sentinel
else {
m->tendon_actuatorid[tenid] = -2;
}
}
}
// ----- tree related (body_treeid and dof_treeid already computed)
@@ -213,7 +256,8 @@ static void setFixed(mjModel* m, mjData* d) {
// tendon spans 2 trees and has no stiffness or damping: skip
if (treenum == 2 &&
m->tendon_stiffness[i] == 0 && mju_isZero(m->tendon_stiffnesspoly+mjNPOLY*i, mjNPOLY) &&
m->tendon_damping[i] == 0 && mju_isZero(m->tendon_dampingpoly+mjNPOLY*i, mjNPOLY)) {
m->tendon_damping[i] == 0 && mju_isZero(m->tendon_dampingpoly+mjNPOLY*i, mjNPOLY) &&
m->tendon_actuatorid[i] == -1) {
continue;
}
src/user/user_model.cc
+6
View File
@@ -3871,6 +3871,9 @@ void mjCModel::CopyObjects(mjModel* m) {
m->actuator_actearly[i] = pac->actearly;
m->actuator_cranklength[i] = (mjtNum)pac->cranklength;
mjuu_copyvec(m->actuator_gear + 6*i, pac->gear, 6);
m->actuator_damping[i] = (mjtNum)pac->damping[0];
mjuu_copyvec(m->actuator_dampingpoly + mjNPOLY*i, pac->damping + 1, mjNPOLY);
m->actuator_armature[i] = (mjtNum)pac->armature;
mjuu_copyvec(m->actuator_dynprm + mjNDYN*i, pac->dynprm, mjNDYN);
mjuu_copyvec(m->actuator_gainprm + mjNGAIN*i, pac->gainprm, mjNGAIN);
mjuu_copyvec(m->actuator_biasprm + mjNBIAS*i, pac->biasprm, mjNBIAS);
@@ -5712,6 +5715,9 @@ bool mjCModel::CopyBack(const mjModel* m) {
mjuu_copyvec(pa->actrange, m->actuator_actrange+2*i, 2);
mjuu_copyvec(pa->lengthrange, m->actuator_lengthrange+2*i, 2);
mjuu_copyvec(pa->gear, m->actuator_gear+6*i, 6);
pa->damping[0] = (double)m->actuator_damping[i];
mjuu_copyvec(pa->damping + 1, m->actuator_dampingpoly + mjNPOLY*i, mjNPOLY);
pa->armature = (double)m->actuator_armature[i];
pa->cranklength = (double)m->actuator_cranklength[i];
if (nuser_actuator) {
src/user/user_objects.cc
+21
View File
@@ -7126,6 +7126,27 @@ void mjCActuator::Compile(void) {
// find transmission target in object arrays
ResolveReferences(model);
// check damping/armature only valid for joint and tendon transmission
bool has_damping = false;
for (int i = 0; i < mjNPOLY+1; i++) {
if (damping[i] != 0) {
has_damping = true;
break;
}
}
if (has_damping &&
trntype != mjTRN_JOINT && trntype != mjTRN_JOINTINPARENT && trntype != mjTRN_TENDON) {
throw mjCError(this,
"damping requires joint or tendon transmission in actuator '%s' (id = %d)",
name.c_str(), id);
}
if (armature != 0 &&
trntype != mjTRN_JOINT && trntype != mjTRN_JOINTINPARENT && trntype != mjTRN_TENDON) {
throw mjCError(this,
"armature requires joint or tendon transmission in actuator '%s' (id = %d)",
name.c_str(), id);
}
// handle inheritrange
if (gaintype == mjGAIN_FIXED && biastype == mjBIAS_AFFINE &&
gainprm[0] == -biasprm[1] && inheritrange > 0) {
src/xml/xml_native_reader.cc
+27 -24
View File
@@ -181,26 +181,27 @@ std::vector<const char*> MJCF[nMJCF] = {
"solreflimit", "solimplimit", "solreffriction", "solimpfriction",
"frictionloss", "springlength", "width", "material",
"margin", "stiffness", "damping", "rgba", "user"},
{"general", "?", "ctrllimited", "forcelimited", "actlimited", "ctrlrange",
"forcerange", "actrange", "gear", "cranklength", "user", "group", "nsample", "interp", "delay", "actdim",
"dyntype", "gaintype", "biastype", "dynprm", "gainprm", "biasprm", "actearly"},
{"general", "?", "ctrllimited", "forcelimited", "actlimited", "ctrlrange", "forcerange",
"actrange", "gear", "damping", "armature", "cranklength", "user", "group", "nsample",
"interp", "delay", "actdim", "dyntype", "gaintype", "biastype", "dynprm", "gainprm",
"biasprm", "actearly"},
{"motor", "?", "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"gear", "cranklength", "user", "group", "nsample", "interp", "delay"},
{"position", "?", "ctrllimited", "forcelimited", "ctrlrange", "inheritrange",
"forcerange", "gear", "cranklength", "user", "group", "nsample", "interp", "delay", "kp", "kv", "dampratio", "timeconst"},
{"velocity", "?", "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"gear", "cranklength", "user", "group", "nsample", "interp", "delay", "kv"},
{"intvelocity", "?", "ctrllimited", "forcelimited",
"ctrlrange", "forcerange", "actrange", "inheritrange",
"gear", "cranklength", "user", "group", "nsample", "interp", "delay",
"kp", "kv", "dampratio"},
"gear", "damping", "armature", "cranklength", "user", "group", "nsample", "interp", "delay"},
{"position", "?", "ctrllimited", "forcelimited", "ctrlrange", "inheritrange", "forcerange",
"gear", "damping", "armature", "cranklength", "user", "group", "nsample", "interp",
"delay", "kp", "kv", "dampratio", "timeconst"},
{"velocity", "?", "ctrllimited", "forcelimited", "ctrlrange", "forcerange", "gear",
"damping", "armature", "cranklength", "user", "group", "nsample", "interp", "delay", "kv"},
{"intvelocity", "?", "ctrllimited", "forcelimited", "ctrlrange", "forcerange", "actrange",
"inheritrange", "gear", "damping", "armature", "cranklength", "user", "group",
"nsample", "interp", "delay", "kp", "kv", "dampratio"},
{"damper", "?", "forcelimited", "ctrlrange", "forcerange",
"gear", "cranklength", "user", "group", "nsample", "interp", "delay", "kv"},
"gear", "damping", "armature", "cranklength", "user", "group", "nsample", "interp", "delay", "kv"},
{"cylinder", "?", "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"gear", "cranklength", "user", "group", "nsample", "interp", "delay",
"gear", "damping", "armature", "cranklength", "user", "group", "nsample", "interp", "delay",
"timeconst", "area", "diameter", "bias"},
{"muscle", "?", "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"gear", "cranklength", "user", "group", "nsample", "interp", "delay",
"gear", "damping", "armature", "cranklength", "user", "group", "nsample", "interp", "delay",
"timeconst", "range", "force", "scale",
"lmin", "lmax", "vmax", "fpmax", "fvmax"},
{"adhesion", "?", "forcelimited", "ctrlrange", "forcerange",
@@ -393,43 +394,43 @@ std::vector<const char*> MJCF[nMJCF] = {
{"<"},
{"general", "*", "name", "class", "group", "nsample", "interp", "delay",
"ctrllimited", "forcelimited", "actlimited", "ctrlrange", "forcerange", "actrange",
"lengthrange", "gear", "cranklength", "user",
"lengthrange", "gear", "damping", "armature", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
"body", "actdim", "dyntype", "gaintype", "biastype", "dynprm", "gainprm", "biasprm",
"actearly"},
{"motor", "*", "name", "class", "group", "nsample", "interp", "delay",
"ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"lengthrange", "gear", "cranklength", "user",
"lengthrange", "gear", "damping", "armature", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite"},
{"position", "*", "name", "class", "group", "nsample", "interp", "delay",
"ctrllimited", "forcelimited", "ctrlrange", "inheritrange", "forcerange",
"lengthrange", "gear", "cranklength", "user",
"lengthrange", "gear", "damping", "armature", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
"kp", "kv", "dampratio", "timeconst"},
{"velocity", "*", "name", "class", "group", "nsample", "interp", "delay",
"ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"lengthrange", "gear", "cranklength", "user",
"lengthrange", "gear", "damping", "armature", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
"kv"},
{"intvelocity", "*", "name", "class", "group", "nsample", "interp", "delay",
"ctrllimited", "forcelimited",
"ctrlrange", "forcerange", "actrange", "inheritrange", "lengthrange",
"gear", "cranklength", "user",
"gear", "damping", "armature", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
"kp", "kv", "dampratio"},
{"damper", "*", "name", "class", "group", "nsample", "interp", "delay",
"forcelimited", "ctrlrange", "forcerange",
"lengthrange", "gear", "cranklength", "user",
"lengthrange", "gear", "damping", "armature", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
"kv"},
{"cylinder", "*", "name", "class", "group", "nsample", "interp", "delay",
"ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"lengthrange", "gear", "cranklength", "user",
"lengthrange", "gear", "damping", "armature", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
"timeconst", "area", "diameter", "bias"},
{"muscle", "*", "name", "class", "group", "nsample", "interp", "delay",
"ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"lengthrange", "gear", "cranklength", "user",
"lengthrange", "gear", "damping", "armature", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite",
"timeconst", "tausmooth", "range", "force", "scale",
"lmin", "lmax", "vmax", "fpmax", "fvmax"},
@@ -437,7 +438,7 @@ std::vector<const char*> MJCF[nMJCF] = {
"forcelimited", "ctrlrange", "forcerange", "user", "body", "gain"},
{"plugin", "*", "name", "class", "plugin", "instance", "group", "nsample", "interp", "delay",
"ctrllimited", "forcelimited", "actlimited", "ctrlrange", "forcerange", "actrange",
"lengthrange", "gear", "cranklength", "joint", "jointinparent",
"lengthrange", "gear", "damping", "armature", "cranklength", "joint", "jointinparent",
"site", "actdim", "dyntype", "dynprm", "tendon", "cranksite", "slidersite", "user",
"actearly"},
{"<"},
@@ -2314,6 +2315,8 @@ void mjXReader::OneActuator(XMLElement* elem, mjsActuator* actuator) {
ReadAttr(elem, "actrange", 2, actuator->actrange, text);
ReadAttr(elem, "lengthrange", 2, actuator->lengthrange, text);
ReadAttr(elem, "gear", 6, actuator->gear, text, false, false);
ReadAttr(elem, "damping", 1+mjNPOLY, actuator->damping, text, false, false);
ReadAttr(elem, "armature", 1, &actuator->armature, text, false, false);
// transmission target and type
int cnt = 0;
src/xml/xml_native_writer.cc
+7
View File
@@ -857,6 +857,13 @@ void mjXWriter::OneActuator(XMLElement* elem, const mjCActuator* actuator, mjCDe
WriteAttr(elem, "actrange", 2, actuator->actrange, def->Actuator().actrange);
WriteAttr(elem, "lengthrange", 2, actuator->lengthrange, def->Actuator().lengthrange);
WriteAttr(elem, "gear", 6, actuator->gear, def->Actuator().gear);
{
int ndamp = 1+mjNPOLY;
while (ndamp > 1 && actuator->damping[ndamp-1] == 0
&& def->Actuator().damping[ndamp-1] == 0) ndamp--;
WriteAttr(elem, "damping", ndamp, actuator->damping, def->Actuator().damping);
}
WriteAttr(elem, "armature", 1, &actuator->armature, &def->Actuator().armature);
WriteAttr(elem, "cranklength", 1, &actuator->cranklength, &def->Actuator().cranklength);
WriteAttrKey(elem, "actearly", bool_map, 2, actuator->actearly,
def->Actuator().actearly);
test/engine/engine_forward_test.cc
+481
View File
@@ -32,6 +32,7 @@
#include <mujoco/mjxmacro.h>
#include "src/cc/array_safety.h"
#include "src/engine/engine_callback.h"
#include "src/engine/engine_core_util.h"
#include "src/engine/engine_io.h"
#include "test/fixture.h"
@@ -1865,5 +1866,485 @@ TEST_F(ForwardTest, TrilinearPinnedParentWithFreejoint) {
mj_deleteModel(m);
}
// -------------------- actuator damping and armature --------------------------
using ActuatorDampingTest = MujocoTest;
TEST_F(ActuatorDampingTest, SingleActuatorJointDamping) {
// actuator damping=3 with gear=2 should produce same force as
// joint damping=12 (3*2^2=12)
static constexpr char xml_actuator[] = R"(
<mujoco>
<option gravity="0 0 0"/>
<worldbody>
<body>
<joint name="jnt" type="slide" axis="1 0 0"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<motor joint="jnt" gear="2" damping="3"/>
</actuator>
<keyframe>
<key qvel="1"/>
</keyframe>
</mujoco>
)";
static constexpr char xml_joint[] = R"(
<mujoco>
<option gravity="0 0 0"/>
<worldbody>
<body>
<joint name="jnt" type="slide" axis="1 0 0"
damping="12"/>
<geom size="1"/>
</body>
</worldbody>
<keyframe>
<key qvel="1"/>
</keyframe>
</mujoco>
)";
char error[1024];
mjModel* m1 = LoadModelFromString(xml_actuator, error, sizeof(error));
ASSERT_THAT(m1, NotNull()) << error;
mjData* d1 = mj_makeData(m1);
mjModel* m2 = LoadModelFromString(xml_joint, error, sizeof(error));
ASSERT_THAT(m2, NotNull()) << error;
mjData* d2 = mj_makeData(m2);
mj_resetDataKeyframe(m1, d1, 0);
mj_forward(m1, d1);
mj_resetDataKeyframe(m2, d2, 0);
mj_forward(m2, d2);
EXPECT_EQ(d1->qfrc_passive[0], d2->qfrc_passive[0]);
mj_deleteData(d1);
mj_deleteModel(m1);
mj_deleteData(d2);
mj_deleteModel(m2);
}
TEST_F(ActuatorDampingTest, SingleActuatorTendonDamping) {
// actuator damping through tendon transmission
static constexpr char xml_actuator[] = R"(
<mujoco>
<option gravity="0 0 0"/>
<worldbody>
<body>
<joint name="jnt" type="slide" axis="1 0 0"/>
<geom size="1"/>
</body>
</worldbody>
<tendon>
<fixed name="ten">
<joint joint="jnt" coef="1"/>
</fixed>
</tendon>
<actuator>
<motor tendon="ten" gear="2" damping="3"/>
</actuator>
<keyframe>
<key qvel="1"/>
</keyframe>
</mujoco>
)";
static constexpr char xml_tendon[] = R"(
<mujoco>
<option gravity="0 0 0"/>
<worldbody>
<body>
<joint name="jnt" type="slide" axis="1 0 0"/>
<geom size="1"/>
</body>
</worldbody>
<tendon>
<fixed name="ten" damping="12">
<joint joint="jnt" coef="1"/>
</fixed>
</tendon>
<keyframe>
<key qvel="1"/>
</keyframe>
</mujoco>
)";
char error[1024];
mjModel* m1 = LoadModelFromString(xml_actuator, error, sizeof(error));
ASSERT_THAT(m1, NotNull()) << error;
mjData* d1 = mj_makeData(m1);
mjModel* m2 = LoadModelFromString(xml_tendon, error, sizeof(error));
ASSERT_THAT(m2, NotNull()) << error;
mjData* d2 = mj_makeData(m2);
mj_resetDataKeyframe(m1, d1, 0);
mj_forward(m1, d1);
mj_resetDataKeyframe(m2, d2, 0);
mj_forward(m2, d2);
EXPECT_EQ(d1->qfrc_passive[0], d2->qfrc_passive[0]);
mj_deleteData(d1);
mj_deleteModel(m1);
mj_deleteData(d2);
mj_deleteModel(m2);
}
TEST_F(ActuatorDampingTest, SingleActuatorArmature) {
// actuator armature=0.5 with gear=3 should equal
// joint armature=4.5 (0.5*3^2=4.5)
static constexpr char xml_actuator[] = R"(
<mujoco>
<option gravity="0 0 0"/>
<worldbody>
<body>
<joint name="jnt" type="slide" axis="1 0 0"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<motor joint="jnt" gear="3" armature="0.5"/>
</actuator>
<keyframe>
<key qvel="1"/>
</keyframe>
</mujoco>
)";
static constexpr char xml_joint[] = R"(
<mujoco>
<option gravity="0 0 0"/>
<worldbody>
<body>
<joint name="jnt" type="slide" axis="1 0 0"
armature="4.5"/>
<geom size="1"/>
</body>
</worldbody>
<keyframe>
<key qvel="1"/>
</keyframe>
</mujoco>
)";
char error[1024];
mjModel* m1 = LoadModelFromString(xml_actuator, error, sizeof(error));
ASSERT_THAT(m1, NotNull()) << error;
mjData* d1 = mj_makeData(m1);
mjModel* m2 = LoadModelFromString(xml_joint, error, sizeof(error));
ASSERT_THAT(m2, NotNull()) << error;
mjData* d2 = mj_makeData(m2);
mj_resetDataKeyframe(m1, d1, 0);
mj_forward(m1, d1);
mj_resetDataKeyframe(m2, d2, 0);
mj_forward(m2, d2);
EXPECT_EQ(d1->qacc[0], d2->qacc[0]);
mj_deleteData(d1);
mj_deleteModel(m1);
mj_deleteData(d2);
mj_deleteModel(m2);
}
TEST_F(ActuatorDampingTest, MultipleActuatorsAccumulate) {
// two actuators: damping=2 gear=3, damping=1 gear=4
// equivalent joint damping: 2*9 + 1*16 = 34
static constexpr char xml_actuator[] = R"(
<mujoco>
<option gravity="0 0 0"/>
<worldbody>
<body>
<joint name="jnt" type="slide" axis="1 0 0"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<motor joint="jnt" gear="3" damping="2"/>
<motor joint="jnt" gear="4" damping="1"/>
</actuator>
<keyframe>
<key qvel="1"/>
</keyframe>
</mujoco>
)";
static constexpr char xml_joint[] = R"(
<mujoco>
<option gravity="0 0 0"/>
<worldbody>
<body>
<joint name="jnt" type="slide" axis="1 0 0"
damping="34"/>
<geom size="1"/>
</body>
</worldbody>
<keyframe>
<key qvel="1"/>
</keyframe>
</mujoco>
)";
char error[1024];
mjModel* m1 = LoadModelFromString(xml_actuator, error, sizeof(error));
ASSERT_THAT(m1, NotNull()) << error;
mjData* d1 = mj_makeData(m1);
mjModel* m2 = LoadModelFromString(xml_joint, error, sizeof(error));
ASSERT_THAT(m2, NotNull()) << error;
mjData* d2 = mj_makeData(m2);
mj_resetDataKeyframe(m1, d1, 0);
mj_forward(m1, d1);
mj_resetDataKeyframe(m2, d2, 0);
mj_forward(m2, d2);
EXPECT_EQ(d1->qfrc_passive[0], d2->qfrc_passive[0]);
mj_deleteData(d1);
mj_deleteModel(m1);
mj_deleteData(d2);
mj_deleteModel(m2);
}
TEST_F(ActuatorDampingTest, DampingSimulationEquivalence) {
// actuator damping=5 gear=2 should match joint damping=20 over time
static constexpr char xml_actuator[] = R"(
<mujoco>
<option gravity="0 0 -10"/>
<worldbody>
<body>
<joint name="jnt" type="slide" axis="0 0 1"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<motor joint="jnt" gear="2" damping="5"/>
</actuator>
<keyframe>
<key qvel="1"/>
</keyframe>
</mujoco>
)";
static constexpr char xml_joint[] = R"(
<mujoco>
<option gravity="0 0 -10"/>
<worldbody>
<body>
<joint name="jnt" type="slide" axis="0 0 1"
damping="20"/>
<geom size="1"/>
</body>
</worldbody>
<keyframe>
<key qvel="1"/>
</keyframe>
</mujoco>
)";
char error[1024];
mjModel* m1 = LoadModelFromString(xml_actuator, error, sizeof(error));
ASSERT_THAT(m1, NotNull()) << error;
mjData* d1 = mj_makeData(m1);
mjModel* m2 = LoadModelFromString(xml_joint, error, sizeof(error));
ASSERT_THAT(m2, NotNull()) << error;
mjData* d2 = mj_makeData(m2);
mj_resetDataKeyframe(m1, d1, 0);
mj_resetDataKeyframe(m2, d2, 0);
for (int i = 0; i < 100; i++) {
mj_step(m1, d1);
mj_step(m2, d2);
}
EXPECT_MJTNUM_EQ(d1->qpos[0], d2->qpos[0]);
EXPECT_MJTNUM_EQ(d1->qvel[0], d2->qvel[0]);
mj_deleteData(d1);
mj_deleteModel(m1);
mj_deleteData(d2);
mj_deleteModel(m2);
}
TEST_F(ActuatorDampingTest, ArmatureSimulationEquivalence) {
// actuator armature=2 gear=3 should match joint armature=18 over time
static constexpr char xml_actuator[] = R"(
<mujoco>
<option gravity="0 0 -10"/>
<worldbody>
<body>
<joint name="jnt" type="slide" axis="0 0 1"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<motor joint="jnt" gear="3" armature="2"/>
</actuator>
<keyframe>
<key qvel="1"/>
</keyframe>
</mujoco>
)";
static constexpr char xml_joint[] = R"(
<mujoco>
<option gravity="0 0 -10"/>
<worldbody>
<body>
<joint name="jnt" type="slide" axis="0 0 1"
armature="18"/>
<geom size="1"/>
</body>
</worldbody>
<keyframe>
<key qvel="1"/>
</keyframe>
</mujoco>
)";
char error[1024];
mjModel* m1 = LoadModelFromString(xml_actuator, error, sizeof(error));
ASSERT_THAT(m1, NotNull()) << error;
mjData* d1 = mj_makeData(m1);
mjModel* m2 = LoadModelFromString(xml_joint, error, sizeof(error));
ASSERT_THAT(m2, NotNull()) << error;
mjData* d2 = mj_makeData(m2);
mj_resetDataKeyframe(m1, d1, 0);
mj_resetDataKeyframe(m2, d2, 0);
for (int i = 0; i < 100; i++) {
mj_step(m1, d1);
mj_step(m2, d2);
}
EXPECT_MJTNUM_EQ(d1->qpos[0], d2->qpos[0]);
EXPECT_MJTNUM_EQ(d1->qvel[0], d2->qvel[0]);
mj_deleteData(d1);
mj_deleteModel(m1);
mj_deleteData(d2);
mj_deleteModel(m2);
}
TEST_F(ActuatorDampingTest, UtilityFunctionValues) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint name="jnt" type="slide" axis="1 0 0"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<motor joint="jnt" gear="5" damping="7" armature="3"/>
</actuator>
</mujoco>
)";
char error[1024];
mjModel* m = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(m, NotNull()) << error;
mjtNum poly[mjNPOLY] = {0};
EXPECT_EQ(mj_actuatorDamping(m, mjOBJ_JOINT, 0, poly), 175);
EXPECT_EQ(mj_actuatorArmature(m, mjOBJ_JOINT, 0), 75);
mj_deleteModel(m);
}
TEST_F(ActuatorDampingTest, NonlinearDamping) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint name="jnt" type="slide" axis="1 0 0"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<motor joint="jnt" gear="3" damping="2 0.5 0.1"/>
</actuator>
</mujoco>
)";
char error[1024];
mjModel* m = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(m, NotNull()) << error;
// linear damping: 2 * gear^2 = 18
mjtNum poly0[mjNPOLY] = {0};
EXPECT_EQ(mj_actuatorDamping(m, mjOBJ_JOINT, 0, poly0), 18);
// poly coefficients scaled by gear^2
mjtNum poly[mjNPOLY] = {0};
mj_actuatorDamping(m, mjOBJ_JOINT, 0, poly);
EXPECT_MJTNUM_EQ(poly[0], 0.5 * 9); // 4.5
EXPECT_MJTNUM_EQ(poly[1], 0.1 * 9); // 0.9
mj_deleteModel(m);
}
TEST_F(ActuatorDampingTest, DampingVsKvGearScaling) {
// Single model with two parallel bodies: one using kv, one using damping.
// Both produce the same joint-space damping force:
// kv: qfrc_actuator contribution = -kv * gear^2 * qvel
// damping: qfrc_passive contribution = -damping * gear^2 * qvel
static constexpr char xml[] = R"(
<mujoco>
<option gravity="0 0 0" integrator="implicitfast"/>
<worldbody>
<body name="kv_body">
<joint name="jnt_kv" type="slide" axis="1 0 0"/>
<geom size="1"/>
</body>
<body name="damp_body" pos="5 0 0">
<joint name="jnt_damp" type="slide" axis="1 0 0"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<position joint="jnt_kv" kp="0" kv="5" gear="3"/>
<position joint="jnt_damp" kp="0" damping="5" gear="3"/>
</actuator>
<keyframe>
<key qvel="1 1"/>
</keyframe>
</mujoco>
)";
char error[1024];
mjModel* m = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(m, NotNull()) << error;
mjData* d = mj_makeData(m);
// check forces at initial state
mj_resetDataKeyframe(m, d, 0);
mj_forward(m, d);
// kv force arrives via qfrc_actuator, damping via qfrc_passive
mjtNum frc_kv = d->qfrc_actuator[0];
mjtNum frc_damp = d->qfrc_passive[1];
EXPECT_NEAR(frc_kv, frc_damp, MjTol(1e-12, 1e-5));
// expected force = -5 * 3^2 * 1 = -45
EXPECT_NEAR(frc_damp, -45, MjTol(1e-12, 1e-5));
// simulate and check trajectory equivalence
mj_resetDataKeyframe(m, d, 0);
for (int i = 0; i < 100; i++) {
mj_step(m, d);
}
EXPECT_NEAR(d->qpos[0], d->qpos[1], MjTol(1e-12, 1e-5))
<< "position trajectory mismatch";
EXPECT_NEAR(d->qvel[0], d->qvel[1], MjTol(1e-12, 1e-5))
<< "velocity trajectory mismatch";
mj_deleteData(d);
mj_deleteModel(m);
}
} // namespace
} // namespace mujoco
test/user/user_objects_test.cc
+46
View File
@@ -2841,5 +2841,51 @@ TEST_F(OctreeSDFTest, TorusSDF) {
mj_deleteModel(model);
}
// ------------- test actuator damping/armature validation ---------------------
using ActuatorTransmissionTest = MujocoTest;
TEST_F(ActuatorTransmissionTest, DampingRejectsSiteTransmission) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint type="slide"/>
<geom size="1"/>
<site name="s"/>
</body>
</worldbody>
<actuator>
<general site="s" damping="1"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(m, IsNull());
EXPECT_THAT(error.data(), HasSubstr("damping requires joint or tendon"));
}
TEST_F(ActuatorTransmissionTest, ArmatureRejectsSiteTransmission) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint type="slide"/>
<geom size="1"/>
<site name="s"/>
</body>
</worldbody>
<actuator>
<general site="s" armature="1"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(m, IsNull());
EXPECT_THAT(error.data(), HasSubstr("armature requires joint or tendon"));
}
} // namespace
} // namespace mujoco
test/xml/xml_native_reader_test.cc
+24
View File
@@ -3383,6 +3383,30 @@ TEST_F(ActuatorParseTest, ActuatorDelayRequiresHistory) {
EXPECT_THAT(error.data(),
HasSubstr("setting delay > 0 without a history buffer"));
}
TEST_F(ActuatorParseTest, DampingArmatureDefaultsPropagate) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<motor damping="3" armature="0.5"/>
</default>
<worldbody>
<body>
<geom size="1"/>
<joint name="jnt" type="slide" axis="1 0 0"/>
</body>
</worldbody>
<actuator>
<motor joint="jnt"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_EQ(model->actuator_damping[0], 3);
EXPECT_EQ(model->actuator_armature[0], 0.5);
mj_deleteModel(model);
}
} // namespace
} // namespace mujoco
unity/Runtime/Bindings/MjBindings.cs
+5
View File
@@ -1072,6 +1072,7 @@ public unsafe struct mjModel_ {
public int* jnt_qposadr;
public int* jnt_dofadr;
public int* jnt_bodyid;
public int* jnt_actuatorid;
public int* jnt_group;
public byte* jnt_limited;
public byte* jnt_actfrclimited;
@@ -1354,6 +1355,7 @@ public unsafe struct mjModel_ {
public int* tendon_adr;
public int* tendon_num;
public int* tendon_matid;
public int* tendon_actuatorid;
public int* tendon_group;
public int* tendon_treenum;
public int* tendon_treeid;
@@ -1389,6 +1391,9 @@ public unsafe struct mjModel_ {
public int* actuator_gaintype;
public int* actuator_biastype;
public int* actuator_trnid;
public double* actuator_damping;
public double* actuator_dampingpoly;
public double* actuator_armature;
public int* actuator_actadr;
public int* actuator_actnum;
public int* actuator_group;
wasm/codegen/generated/bindings.cc
+31
View File
@@ -4259,6 +4259,9 @@ struct MjModel {
emscripten::val jnt_bodyid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->njnt, ptr_->jnt_bodyid));
}
emscripten::val jnt_actuatorid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->njnt, ptr_->jnt_actuatorid));
}
emscripten::val jnt_group() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->njnt, ptr_->jnt_group));
}
@@ -5105,6 +5108,9 @@ struct MjModel {
emscripten::val tendon_matid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->tendon_matid));
}
emscripten::val tendon_actuatorid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->tendon_actuatorid));
}
emscripten::val tendon_group() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->tendon_group));
}
@@ -5210,6 +5216,15 @@ struct MjModel {
emscripten::val actuator_trnid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nu * 2, ptr_->actuator_trnid));
}
emscripten::val actuator_damping() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nu, ptr_->actuator_damping));
}
emscripten::val actuator_dampingpoly() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nu * mjNPOLY, ptr_->actuator_dampingpoly));
}
emscripten::val actuator_armature() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nu, ptr_->actuator_armature));
}
emscripten::val actuator_actadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nu, ptr_->actuator_actadr));
}
@@ -5797,6 +5812,15 @@ struct MjsActuator {
void set_inheritrange(double value) {
ptr_->inheritrange = value;
}
emscripten::val damping() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->damping));
}
double armature() const {
return ptr_->armature;
}
void set_armature(double value) {
ptr_->armature = value;
}
int ctrllimited() const {
return ptr_->ctrllimited;
}
@@ -11656,11 +11680,14 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("actuator_actlimited", &MjModel::actuator_actlimited)
.property("actuator_actnum", &MjModel::actuator_actnum)
.property("actuator_actrange", &MjModel::actuator_actrange)
.property("actuator_armature", &MjModel::actuator_armature)
.property("actuator_biasprm", &MjModel::actuator_biasprm)
.property("actuator_biastype", &MjModel::actuator_biastype)
.property("actuator_cranklength", &MjModel::actuator_cranklength)
.property("actuator_ctrllimited", &MjModel::actuator_ctrllimited)
.property("actuator_ctrlrange", &MjModel::actuator_ctrlrange)
.property("actuator_damping", &MjModel::actuator_damping)
.property("actuator_dampingpoly", &MjModel::actuator_dampingpoly)
.property("actuator_delay", &MjModel::actuator_delay)
.property("actuator_dynprm", &MjModel::actuator_dynprm)
.property("actuator_dyntype", &MjModel::actuator_dyntype)
@@ -11861,6 +11888,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("jnt_actfrclimited", &MjModel::jnt_actfrclimited)
.property("jnt_actfrcrange", &MjModel::jnt_actfrcrange)
.property("jnt_actgravcomp", &MjModel::jnt_actgravcomp)
.property("jnt_actuatorid", &MjModel::jnt_actuatorid)
.property("jnt_axis", &MjModel::jnt_axis)
.property("jnt_bodyid", &MjModel::jnt_bodyid)
.property("jnt_dofadr", &MjModel::jnt_dofadr)
@@ -12148,6 +12176,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("ten_J_rownnz", &MjModel::ten_J_rownnz)
.property("tendon_actfrclimited", &MjModel::tendon_actfrclimited)
.property("tendon_actfrcrange", &MjModel::tendon_actfrcrange)
.property("tendon_actuatorid", &MjModel::tendon_actuatorid)
.property("tendon_adr", &MjModel::tendon_adr)
.property("tendon_armature", &MjModel::tendon_armature)
.property("tendon_damping", &MjModel::tendon_damping)
@@ -12394,11 +12423,13 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("actearly", &MjsActuator::actearly, &MjsActuator::set_actearly, reference())
.property("actlimited", &MjsActuator::actlimited, &MjsActuator::set_actlimited, reference())
.property("actrange", &MjsActuator::actrange)
.property("armature", &MjsActuator::armature, &MjsActuator::set_armature, reference())
.property("biasprm", &MjsActuator::biasprm)
.property("biastype", &MjsActuator::biastype, &MjsActuator::set_biastype, reference())
.property("cranklength", &MjsActuator::cranklength, &MjsActuator::set_cranklength, reference())
.property("ctrllimited", &MjsActuator::ctrllimited, &MjsActuator::set_ctrllimited, reference())
.property("ctrlrange", &MjsActuator::ctrlrange)
.property("damping", &MjsActuator::damping)
.property("delay", &MjsActuator::delay, &MjsActuator::set_delay, reference())
.property("dynprm", &MjsActuator::dynprm)
.property("dyntype", &MjsActuator::dyntype, &MjsActuator::set_dyntype, reference())