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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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src/xml/xml_native_reader.cc
+16 -9
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@@ -79,7 +79,7 @@ void ReadPluginConfigs(tinyxml2::XMLElement* elem, mjCPlugin* pp) {
//---------------------------------- MJCF schema ---------------------------------------------------
static const int nMJCF = 190;
static const int nMJCF = 191;
static const char* MJCF[nMJCF][mjXATTRNUM] = {
{"mujoco", "!", "1", "model"},
{"<"},
@@ -138,10 +138,10 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
{"mesh", "?", "1", "scale"},
{"material", "?", "8", "texture", "emission", "specular", "shininess",
"reflectance", "rgba", "texrepeat", "texuniform"},
{"joint", "?", "19", "type", "group", "pos", "axis", "springdamper",
"limited", "solreflimit", "solimplimit",
"solreffriction", "solimpfriction", "stiffness", "range", "margin",
"ref", "springref", "armature", "damping", "frictionloss", "user"},
{"joint", "?", "21", "type", "group", "pos", "axis", "springdamper",
"limited", "actuatorforcelimited", "solreflimit", "solimplimit",
"solreffriction", "solimpfriction", "stiffness", "range", "actuatorforcerange",
"margin", "ref", "springref", "armature", "damping", "frictionloss", "user"},
{"geom", "?", "31", "type", "pos", "quat", "contype", "conaffinity", "condim",
"group", "priority", "size", "material", "friction", "mass", "density",
"shellinertia", "solmix", "solref", "solimp",
@@ -237,11 +237,11 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
{">"},
{"inertial", "?", "9", "pos", "quat", "mass", "diaginertia",
"axisangle", "xyaxes", "zaxis", "euler", "fullinertia"},
{"joint", "*", "21", "name", "class", "type", "group", "pos", "axis",
"springdamper", "limited",
{"joint", "*", "23", "name", "class", "type", "group", "pos", "axis",
"springdamper", "limited", "actuatorforcelimited",
"solreflimit", "solimplimit", "solreffriction", "solimpfriction",
"stiffness", "range", "margin", "ref", "springref", "armature", "damping",
"frictionloss", "user"},
"stiffness", "range", "actuatorforcerange", "margin", "ref", "springref",
"armature", "damping", "frictionloss", "user"},
{"freejoint", "*", "2", "name", "group"},
{"geom", "*", "33", "name", "class", "type", "contype", "conaffinity", "condim",
"group", "priority", "size", "material", "friction", "mass", "density",
@@ -391,6 +391,7 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
{"actuatorpos", "*", "5", "name", "actuator", "cutoff", "noise", "user"},
{"actuatorvel", "*", "5", "name", "actuator", "cutoff", "noise", "user"},
{"actuatorfrc", "*", "5", "name", "actuator", "cutoff", "noise", "user"},
{"jointactuatorfrc", "*", "5", "name", "joint", "cutoff", "noise", "user"},
{"ballquat", "*", "5", "name", "joint", "cutoff", "noise", "user"},
{"ballangvel", "*", "5", "name", "joint", "cutoff", "noise", "user"},
{"jointlimitpos", "*", "5", "name", "joint", "cutoff", "noise", "user"},
@@ -1314,6 +1315,7 @@ void mjXReader::OneJoint(XMLElement* elem, mjCJoint* pjoint) {
pjoint->type = (mjtJoint)n;
}
MapValue(elem, "limited", &pjoint->limited, TFAuto_map, 3);
MapValue(elem, "actuatorforcelimited", &pjoint->actfrclimited, TFAuto_map, 3);
ReadAttrInt(elem, "group", &pjoint->group);
ReadAttr(elem, "solreflimit", mjNREF, pjoint->solref_limit, text, false, false);
ReadAttr(elem, "solimplimit", mjNIMP, pjoint->solimp_limit, text, false, false);
@@ -1324,6 +1326,7 @@ void mjXReader::OneJoint(XMLElement* elem, mjCJoint* pjoint) {
ReadAttr(elem, "springdamper", 2, pjoint->springdamper, text);
ReadAttr(elem, "stiffness", 1, &pjoint->stiffness, text);
ReadAttr(elem, "range", 2, pjoint->range, text);
ReadAttr(elem, "actuatorforcerange", 2, pjoint->actfrcrange, text);
ReadAttr(elem, "margin", 1, &pjoint->margin, text);
ReadAttr(elem, "ref", 1, &pjoint->ref, text);
ReadAttr(elem, "springref", 1, &pjoint->springref, text);
@@ -3004,6 +3007,10 @@ void mjXReader::Sensor(XMLElement* section) {
psen->type = mjSENS_ACTUATORFRC;
psen->objtype = mjOBJ_ACTUATOR;
ReadAttrTxt(elem, "actuator", psen->objname, true);
} else if (type=="jointactuatorfrc") {
psen->type = mjSENS_JOINTACTFRC;
psen->objtype = mjOBJ_JOINT;
ReadAttrTxt(elem, "joint", psen->objname, true);
}
// sensors related to ball joints