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Improvements related to models where joint-actuator relationship is not one-to-one:

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- Add `joint-actuatorforcerange` for clamping total actuator force at joints. Add `sensor-jointactuatorfrc` for sensing total actuator forces on a single joint.
See [documentation](https://mujoco.readthedocs.io/en/latest//modeling.html#actuator-force-clamping) for justification and use cases.
- Add simple car model to `model/`.
- Move actuation-related test models into `engine/testdata/actuation/`.

PiperOrigin-RevId: 549355941
Change-Id: I27f6c1f80426d73a2811ef5ae74684a228b2fbd1
This commit is contained in:
Yuval Tassa
2023-07-19 10:28:24 -07:00
committed by Copybara-Service
parent 7603b07a20
commit 51aa375af0
29 changed files with 453 additions and 105 deletions
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doc/XMLschema.rst
+21 -10
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@@ -220,15 +220,15 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`axis<default-joint-axis>` | :ref:`springdamper<default-joint-springdamper>` | :ref:`limited<default-joint-limited>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`solreflimit<default-joint-solreflimit>` | :ref:`solimplimit<default-joint-solimplimit>` | :ref:`solreffriction<default-joint-solreffriction>` | |
| | | | :ref:`actuatorforcelimited<default-joint-actuatorforcelimited>` | :ref:`solreflimit<default-joint-solreflimit>` | :ref:`solimplimit<default-joint-solimplimit>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`solimpfriction<default-joint-solimpfriction>` | :ref:`stiffness<default-joint-stiffness>` | :ref:`range<default-joint-range>` | |
| | | | :ref:`solreffriction<default-joint-solreffriction>` | :ref:`solimpfriction<default-joint-solimpfriction>` | :ref:`stiffness<default-joint-stiffness>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`margin<default-joint-margin>` | :ref:`ref<default-joint-ref>` | :ref:`springref<default-joint-springref>` | |
| | | | :ref:`range<default-joint-range>` | :ref:`actuatorforcerange<default-joint-actuatorforcerange>` | :ref:`margin<default-joint-margin>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`armature<default-joint-armature>` | :ref:`damping<default-joint-damping>` | :ref:`frictionloss<default-joint-frictionloss>` | |
| | | | :ref:`ref<default-joint-ref>` | :ref:`springref<default-joint-springref>` | :ref:`armature<default-joint-armature>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<default-joint-user>` | | | |
| | | | :ref:`damping<default-joint-damping>` | :ref:`frictionloss<default-joint-frictionloss>` | :ref:`user<default-joint-user>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
@@ -627,15 +627,17 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`group<body-joint-group>` | :ref:`pos<body-joint-pos>` | :ref:`axis<body-joint-axis>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`springdamper<body-joint-springdamper>` | :ref:`limited<body-joint-limited>` | :ref:`solreflimit<body-joint-solreflimit>` | |
| | | | :ref:`springdamper<body-joint-springdamper>` | :ref:`limited<body-joint-limited>` | :ref:`actuatorforcelimited<body-joint-actuatorforcelimited>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`solimplimit<body-joint-solimplimit>` | :ref:`solreffriction<body-joint-solreffriction>` | :ref:`solimpfriction<body-joint-solimpfriction>` | |
| | | | :ref:`solreflimit<body-joint-solreflimit>` | :ref:`solimplimit<body-joint-solimplimit>` | :ref:`solreffriction<body-joint-solreffriction>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`stiffness<body-joint-stiffness>` | :ref:`range<body-joint-range>` | :ref:`margin<body-joint-margin>` | |
| | | | :ref:`solimpfriction<body-joint-solimpfriction>` | :ref:`stiffness<body-joint-stiffness>` | :ref:`range<body-joint-range>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`ref<body-joint-ref>` | :ref:`springref<body-joint-springref>` | :ref:`armature<body-joint-armature>` | |
| | | | :ref:`actuatorforcerange<body-joint-actuatorforcerange>` | :ref:`margin<body-joint-margin>` | :ref:`ref<body-joint-ref>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`damping<body-joint-damping>` | :ref:`frictionloss<body-joint-frictionloss>` | :ref:`user<body-joint-user>` | |
| | | | :ref:`springref<body-joint-springref>` | :ref:`armature<body-joint-armature>` | :ref:`damping<body-joint-damping>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`frictionloss<body-joint-frictionloss>` | :ref:`user<body-joint-user>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| body |br| |_| |L| | | .. table:: |
@@ -1294,6 +1296,15 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`jointactuatorfrc | \* | :class: mjcf-attributes |
| <sensor-jointactuatorfrc>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-jointactuatorfrc-name>` | :ref:`joint<sensor-jointactuatorfrc-joint>` | :ref:`cutoff<sensor-jointactuatorfrc-cutoff>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`noise<sensor-jointactuatorfrc-noise>` | :ref:`user<sensor-jointactuatorfrc-user>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`ballquat | \* | :class: mjcf-attributes |
| <sensor-ballquat>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |