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Add intvelocity actuator shortcut.

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PiperOrigin-RevId: 454899823
Change-Id: I9b5494baacfab5a7d03bd680d0ded06a7790e75e
This commit is contained in:
Kevin Zakka
2022-06-14 10:36:15 -07:00
committed by Copybara-Service
parent 0e1918782a
commit 6048a55daf
5 changed files with 224 additions and 21 deletions
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src/xml/xml_native_reader.cc
+37 -6
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@@ -41,7 +41,7 @@ using tinyxml2::XMLElement;
//---------------------------------- MJCF schema ---------------------------------------------------
static const int nMJCF = 158;
static const int nMJCF = 160;
static const char* MJCF[nMJCF][mjXATTRNUM] = {
{"mujoco", "!", "1", "model"},
{"<"},
@@ -130,6 +130,10 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
{"velocity", "?", "9", "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"gear", "cranklength", "user", "group",
"kv"},
{"intvelocity", "?", "10", "ctrllimited", "forcelimited",
"ctrlrange", "forcerange", "actrange",
"gear", "cranklength", "user", "group",
"kp"},
{"cylinder", "?", "12", "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"gear", "cranklength", "user", "group",
"timeconst", "area", "diameter", "bias"},
@@ -273,6 +277,12 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
"lengthrange", "gear", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site",
"kv"},
{"intvelocity", "*", "19", "name", "class", "group",
"ctrllimited", "forcelimited",
"ctrlrange", "forcerange", "actrange", "lengthrange",
"gear", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site",
"kp"},
{"cylinder", "*", "21", "name", "class", "group",
"ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"lengthrange", "gear", "cranklength", "user",
@@ -1460,6 +1470,26 @@ void mjXReader::OneActuator(XMLElement* elem, mjCActuator* pact) {
pact->biastype = mjBIAS_AFFINE;
}
// integrated velocity
else if (type=="intvelocity") {
// clear bias
mjuu_zerovec(pact->biasprm, mjNBIAS);
// explicit attributes
ReadAttr(elem, "kp", 1, pact->gainprm, text);
// implied parameters
pact->dyntype = mjDYN_INTEGRATOR;
pact->gaintype = mjGAIN_FIXED;
pact->biastype = mjBIAS_AFFINE;
pact->actlimited = true;
pact->biasprm[1] = -pact->gainprm[0];
// require actrange
if (!ReadAttr(elem, "actrange", 2, pact->actrange, text)) {
throw mjXError(elem, "actrange is required for an intvelocity actuator", type.c_str());
}
}
// cylinder
else if (type=="cylinder") {
// explicit attributes
@@ -1761,11 +1791,12 @@ void mjXReader::Default(XMLElement* section, int parentid) {
else if (name=="tendon") OneTendon(elem, &def->tendon);
// read actuator: general, motor, position, velocity, cylinder
else if (name=="general" ||
name=="motor" ||
name=="position" ||
name=="velocity" ||
name=="cylinder" ||
else if (name=="general" ||
name=="motor" ||
name=="position" ||
name=="velocity" ||
name=="intvelocity" ||
name=="cylinder" ||
name=="muscle") {
OneActuator(elem, &def->actuator);
}