Improvements related to models where joint-actuator relationship is not one-to-one:
- 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
committed by
Copybara-Service
Copybara-Service
parent
7603b07a20
commit
51aa375af0
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<mujoco>
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<compiler autolimits="true"/>
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<option density="1000"/>
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<worldbody>
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<geom type="plane" size="10 10 .1" rgba="1 1 1 1"/>
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<light pos="0 0 20"/>
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<site name="anchor_tendon" pos="0 0 9" size="0.03" rgba="0 0 1 1"/>
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<body name="body_hinge" pos="5 0 3">
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<geom type="box" size="1.5 .1 .1" pos="0 0 2.0"/>
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<joint name="hinge" type="hinge" pos="0 0 2.0" axis="0 1 0" range="-25 5"/>
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</body>
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<body name="body_tendon" pos="0 0 5">
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<freejoint/>
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<geom type="box" size=".5 .5 .5"/>
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<site name="box_tendon" pos=".5 .5 .5" rgba="0 0 1 1" size="0.03"/>
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</body>
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<body name="body_slider" pos="5 -2 2">
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<geom type="box" size=".5 .5 .5"/>
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<joint name="slider" type="slide" pos=".5 0 0" axis="1 0 0" range="-25 5"/>
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</body>
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<body name="body_site" pos="2 2 .5">
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<freejoint/>
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<geom type="box" size=".5 .5 .5"/>
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<site name="box_site" pos="0 0 .5" rgba="0 0 1 1" size="0.1"/>
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</body>
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<body name="body_stateless" pos="5 2 2">
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<geom type="box" size=".5 .5 .5"/>
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<joint name="stateless" type="slide" pos=".5 0 0" axis="1 0 0" range="-25 5"/>
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</body>
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</worldbody>
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<tendon>
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<spatial name="tendon" limited="true" range="0 4" damping="100" width="0.03">
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<site site="anchor_tendon"/>
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<site site="box_tendon"/>
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</spatial>
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</tendon>
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<actuator>
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<general name="stateless" joint="stateless" ctrllimited="true" ctrlrange="-20 20"/>
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<general name="hinge" joint="hinge" dyntype="integrator" ctrllimited="true" ctrlrange="-20 20"/>
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<muscle name="tendon" tendon="tendon" ctrllimited="true" ctrlrange="0 2"/>
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<general name="slider" joint="slider" dyntype="integrator" ctrllimited="true" ctrlrange="-20 20"/>
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<general name="site" site="box_site" dyntype="integrator" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="0 10000"/>
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</actuator>
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</mujoco>
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+19
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<mujoco>
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<compiler autolimits="true"/>
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<option integrator="implicitfast"/>
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<worldbody>
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<geom type="plane" size="1 1 .01"/>
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<light pos="0 0 2"/>
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<body pos="0 0 .3">
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<joint name="hinge" axis="0 1 0"/>
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<geom type="capsule" size=".01" fromto="0 0 0 .2 0 0"/>
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<geom size=".03" pos=".2 0 0"/>
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</body>
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</worldbody>
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<actuator>
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<damper name="damper" joint="hinge" kv="10" ctrlrange="0 1"/>
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</actuator>
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</mujoco>
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<mujoco>
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<compiler autolimits="true"/>
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<option integrator="implicitfast"/>
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<worldbody>
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<geom type="plane" size="1 1 .01"/>
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<light pos="0 0 2"/>
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<body pos="0 0 .3">
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<joint name="hinge" damping=".01" actuatorforcerange="-.4 .4"/>
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<geom type="capsule" size=".01" fromto="0 0 0 .2 0 0"/>
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<geom size=".03" pos=".2 0 0"/>
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</body>
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</worldbody>
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<actuator>
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<motor name="motor" joint="hinge" ctrlrange="-1 1"/>
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<damper name="damper" joint="hinge" kv="10" ctrlrange="0 1"/>
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</actuator>
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<sensor>
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<actuatorfrc name="motor" actuator="motor"/>
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<actuatorfrc name="damper" actuator="damper"/>
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<jointactuatorfrc name="hinge" joint="hinge"/>
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</sensor>
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</mujoco>
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+72
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<mujoco>
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<compiler autolimits="true"/>
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<!--
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Adding a high fluid viscosity and using implicit integration for extra stabillity.
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Extra stabillity is required because the abstract "arm" model is not very realistic.
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(e.g. 4 consecutive ball joints is not a realistic kinematic design)
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-->
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<option viscosity="10" integrator="implicit">
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<flag gravity="disable" contact="disable"/>
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</option>
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<statistic meansize=".05"/>
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<default>
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<default class="translation">
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<general gainprm="100" biasprm="0 -100 -10" biastype="affine" ctrlrange="-.25 .25"/>
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</default>
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<default class="rotation">
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<!--
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Note that the rotational control range is purposefully limited to (-pi/2, pi/2) to avoid the
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documented instabillity near pi, which is due to taking quaternion differences.
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Increase this range to pi or bigger in order to see the instabillity.
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See here for more details https://mujoco.readthedocs.io/en/latest/XMLreference.html#actuator
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-->
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<general gainprm=".5" biasprm="0 -.5 -.05" biastype="affine" ctrlrange="-1.571 1.571"/>
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</default>
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<!--
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Clamping the total actuator torque at the joints means that the motion produced by the Cartesian
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commands is achievable by individual joint actuators with the specified torque limits.
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See https://mujoco.readthedocs.io/en/latest//modeling.html#actuator-force-clamping
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-->
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<joint stiffness="1e-1" actuatorforcerange="-1 1"/>
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<site type="box" size=".012 .012 .012" rgba=".7 .7 .8 1"/>
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</default>
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<worldbody>
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<light pos="0 0 2"/>
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<geom type="box" size=".25 .25 .01" pos="0 0 -.01"/>
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<site name="reference" pos="0 0 .25"/>
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<body name="arm" pos="-.25 .25 0">
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<joint axis="1 0 0"/>
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<joint axis="0 1 0"/>
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<geom type="box" size=".01" fromto="0 0 0 0 0 .25"/>
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<body pos="0 0 .25">
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<joint axis="0 1 0"/>
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<joint axis="0 0 1"/>
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<geom type="box" size=".01" fromto="0 0 0 .25 0 0"/>
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<body pos=".25 0 0">
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<joint axis="1 0 0"/>
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<joint axis="0 0 1"/>
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<geom type="box" size=".01" fromto="0 0 0 0 -.2 0"/>
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<body pos="0 -.2 0">
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<joint axis="1 0 0"/>
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<joint axis="0 0 1"/>
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<joint axis="0 1 0"/>
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<geom type="box" size=".01" fromto="0 0 0 0 -.05 0"/>
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<site name="end_effector" pos="0 -.05 0"/>
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</body>
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</body>
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</body>
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</body>
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</worldbody>
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<actuator>
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<general name="x" site="end_effector" refsite="reference" gear="1 0 0 0 0 0" class="translation"/>
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<general name="y" site="end_effector" refsite="reference" gear="0 1 0 0 0 0" class="translation"/>
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<general name="z" site="end_effector" refsite="reference" gear="0 0 1 0 0 0" class="translation"/>
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<general name="rx" site="end_effector" refsite="reference" gear="0 0 0 1 0 0" class="rotation"/>
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<general name="ry" site="end_effector" refsite="reference" gear="0 0 0 0 1 0" class="rotation"/>
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<general name="rz" site="end_effector" refsite="reference" gear="0 0 0 0 0 1" class="rotation"/>
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</actuator>
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</mujoco>
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+25
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<mujoco>
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<option density="1000">
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<flag gravity="disable"/>
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</option>
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<worldbody>
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<geom type="plane" size="10 10 .1" rgba="1 1 1 1"/>
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<light pos="0 0 20"/>
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<body name="body_stateless" pos="0 0 .5">
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<freejoint/>
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<geom type="box" size=".5 .5 .1" pos="0 0 .4"/>
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<site name="capsule" pos=".5 .5 .5" rgba="0 0 1 1" size=".1 .1" type="capsule"/>
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<site name="ellipsoid" pos=".5 -.5 .5" rgba="0 0 1 1" size=".1 .3 .1" type="ellipsoid" euler="0 0 -45"/>
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<site name="cylinder" pos="0 0 .5" rgba="0 0 1 1" size=".2 .1" type="cylinder"/>
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<site name="box" pos="-.5 -.5 .5" rgba="0 0 1 1" size=".1 .1 .2" type="box"/>
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</body>
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</worldbody>
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<actuator>
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<general name="ellipsoid" site="ellipsoid" gear="0 1 0 0 0 0" ctrllimited="true" ctrlrange="-100 100"/>
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<general name="cylinder" site="cylinder" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-100 100"/>
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<general name="box" site="box" dyntype="integrator" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-100 100"/>
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<general name="capsule" site="capsule" dyntype="integrator" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-100 100"/>
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</actuator>
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</mujoco>
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