Allow actuators to add damping and armature to joint and tendon transmissions.
PiperOrigin-RevId: 886899849 Change-Id: I02200ee0d4f7c96096d8188b95f823b566562a30
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
f7bd6d15f7
commit
510d75f4cf
@@ -181,26 +181,27 @@ std::vector<const char*> MJCF[nMJCF] = {
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"solreflimit", "solimplimit", "solreffriction", "solimpfriction",
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"frictionloss", "springlength", "width", "material",
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"margin", "stiffness", "damping", "rgba", "user"},
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{"general", "?", "ctrllimited", "forcelimited", "actlimited", "ctrlrange",
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"forcerange", "actrange", "gear", "cranklength", "user", "group", "nsample", "interp", "delay", "actdim",
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"dyntype", "gaintype", "biastype", "dynprm", "gainprm", "biasprm", "actearly"},
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{"general", "?", "ctrllimited", "forcelimited", "actlimited", "ctrlrange", "forcerange",
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"actrange", "gear", "damping", "armature", "cranklength", "user", "group", "nsample",
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"interp", "delay", "actdim", "dyntype", "gaintype", "biastype", "dynprm", "gainprm",
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"biasprm", "actearly"},
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{"motor", "?", "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
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"gear", "cranklength", "user", "group", "nsample", "interp", "delay"},
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{"position", "?", "ctrllimited", "forcelimited", "ctrlrange", "inheritrange",
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"forcerange", "gear", "cranklength", "user", "group", "nsample", "interp", "delay", "kp", "kv", "dampratio", "timeconst"},
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{"velocity", "?", "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
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"gear", "cranklength", "user", "group", "nsample", "interp", "delay", "kv"},
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{"intvelocity", "?", "ctrllimited", "forcelimited",
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"ctrlrange", "forcerange", "actrange", "inheritrange",
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"gear", "cranklength", "user", "group", "nsample", "interp", "delay",
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"kp", "kv", "dampratio"},
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"gear", "damping", "armature", "cranklength", "user", "group", "nsample", "interp", "delay"},
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{"position", "?", "ctrllimited", "forcelimited", "ctrlrange", "inheritrange", "forcerange",
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"gear", "damping", "armature", "cranklength", "user", "group", "nsample", "interp",
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"delay", "kp", "kv", "dampratio", "timeconst"},
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{"velocity", "?", "ctrllimited", "forcelimited", "ctrlrange", "forcerange", "gear",
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"damping", "armature", "cranklength", "user", "group", "nsample", "interp", "delay", "kv"},
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{"intvelocity", "?", "ctrllimited", "forcelimited", "ctrlrange", "forcerange", "actrange",
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"inheritrange", "gear", "damping", "armature", "cranklength", "user", "group",
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"nsample", "interp", "delay", "kp", "kv", "dampratio"},
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{"damper", "?", "forcelimited", "ctrlrange", "forcerange",
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"gear", "cranklength", "user", "group", "nsample", "interp", "delay", "kv"},
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"gear", "damping", "armature", "cranklength", "user", "group", "nsample", "interp", "delay", "kv"},
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{"cylinder", "?", "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
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"gear", "cranklength", "user", "group", "nsample", "interp", "delay",
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"gear", "damping", "armature", "cranklength", "user", "group", "nsample", "interp", "delay",
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"timeconst", "area", "diameter", "bias"},
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{"muscle", "?", "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
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"gear", "cranklength", "user", "group", "nsample", "interp", "delay",
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"gear", "damping", "armature", "cranklength", "user", "group", "nsample", "interp", "delay",
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"timeconst", "range", "force", "scale",
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"lmin", "lmax", "vmax", "fpmax", "fvmax"},
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{"adhesion", "?", "forcelimited", "ctrlrange", "forcerange",
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@@ -393,43 +394,43 @@ std::vector<const char*> MJCF[nMJCF] = {
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{"<"},
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{"general", "*", "name", "class", "group", "nsample", "interp", "delay",
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"ctrllimited", "forcelimited", "actlimited", "ctrlrange", "forcerange", "actrange",
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"lengthrange", "gear", "cranklength", "user",
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"lengthrange", "gear", "damping", "armature", "cranklength", "user",
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"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
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"body", "actdim", "dyntype", "gaintype", "biastype", "dynprm", "gainprm", "biasprm",
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"actearly"},
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{"motor", "*", "name", "class", "group", "nsample", "interp", "delay",
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"ctrllimited", "forcelimited", "ctrlrange", "forcerange",
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"lengthrange", "gear", "cranklength", "user",
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"lengthrange", "gear", "damping", "armature", "cranklength", "user",
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"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite"},
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{"position", "*", "name", "class", "group", "nsample", "interp", "delay",
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"ctrllimited", "forcelimited", "ctrlrange", "inheritrange", "forcerange",
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"lengthrange", "gear", "cranklength", "user",
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"lengthrange", "gear", "damping", "armature", "cranklength", "user",
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"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
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"kp", "kv", "dampratio", "timeconst"},
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{"velocity", "*", "name", "class", "group", "nsample", "interp", "delay",
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"ctrllimited", "forcelimited", "ctrlrange", "forcerange",
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"lengthrange", "gear", "cranklength", "user",
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"lengthrange", "gear", "damping", "armature", "cranklength", "user",
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"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
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"kv"},
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{"intvelocity", "*", "name", "class", "group", "nsample", "interp", "delay",
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"ctrllimited", "forcelimited",
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"ctrlrange", "forcerange", "actrange", "inheritrange", "lengthrange",
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"gear", "cranklength", "user",
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"gear", "damping", "armature", "cranklength", "user",
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"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
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"kp", "kv", "dampratio"},
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{"damper", "*", "name", "class", "group", "nsample", "interp", "delay",
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"forcelimited", "ctrlrange", "forcerange",
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"lengthrange", "gear", "cranklength", "user",
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"lengthrange", "gear", "damping", "armature", "cranklength", "user",
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"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
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"kv"},
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{"cylinder", "*", "name", "class", "group", "nsample", "interp", "delay",
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"ctrllimited", "forcelimited", "ctrlrange", "forcerange",
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"lengthrange", "gear", "cranklength", "user",
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"lengthrange", "gear", "damping", "armature", "cranklength", "user",
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"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
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"timeconst", "area", "diameter", "bias"},
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{"muscle", "*", "name", "class", "group", "nsample", "interp", "delay",
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"ctrllimited", "forcelimited", "ctrlrange", "forcerange",
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"lengthrange", "gear", "cranklength", "user",
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"lengthrange", "gear", "damping", "armature", "cranklength", "user",
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"joint", "jointinparent", "tendon", "slidersite", "cranksite",
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"timeconst", "tausmooth", "range", "force", "scale",
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"lmin", "lmax", "vmax", "fpmax", "fvmax"},
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@@ -437,7 +438,7 @@ std::vector<const char*> MJCF[nMJCF] = {
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"forcelimited", "ctrlrange", "forcerange", "user", "body", "gain"},
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{"plugin", "*", "name", "class", "plugin", "instance", "group", "nsample", "interp", "delay",
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"ctrllimited", "forcelimited", "actlimited", "ctrlrange", "forcerange", "actrange",
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"lengthrange", "gear", "cranklength", "joint", "jointinparent",
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"lengthrange", "gear", "damping", "armature", "cranklength", "joint", "jointinparent",
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"site", "actdim", "dyntype", "dynprm", "tendon", "cranksite", "slidersite", "user",
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"actearly"},
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{"<"},
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@@ -2314,6 +2315,8 @@ void mjXReader::OneActuator(XMLElement* elem, mjsActuator* actuator) {
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ReadAttr(elem, "actrange", 2, actuator->actrange, text);
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ReadAttr(elem, "lengthrange", 2, actuator->lengthrange, text);
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ReadAttr(elem, "gear", 6, actuator->gear, text, false, false);
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ReadAttr(elem, "damping", 1+mjNPOLY, actuator->damping, text, false, false);
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ReadAttr(elem, "armature", 1, &actuator->armature, text, false, false);
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// transmission target and type
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int cnt = 0;
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