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Add <dcmotor> actuator and related docs and tests.

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PiperOrigin-RevId: 892927987
Change-Id: I38ed6412801341ba03ddf5fe7b93a6081df24d37
This commit is contained in:
Yuval Tassa
2026-04-01 07:49:53 -07:00
committed by Copybara-Service
parent 6da210c794
commit 70a7647ad9
31 changed files with 3994 additions and 55 deletions
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src/xml/xml_native_reader.cc
+75 -4
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@@ -206,6 +206,10 @@ std::vector<const char*> MJCF[nMJCF] = {
"lmin", "lmax", "vmax", "fpmax", "fvmax"},
{"adhesion", "?", "forcelimited", "ctrlrange", "forcerange",
"gain", "user", "group", "nsample", "interp", "delay"},
{"dcmotor", "?", "ctrllimited", "ctrlrange",
"gear", "damping", "armature", "cranklength", "user", "group", "nsample", "interp", "delay",
"motorconst", "resistance", "nominal", "saturation",
"inductance", "cogging", "controller", "input", "thermal", "lugre"},
{">"},
{"extension", "*"},
@@ -436,6 +440,12 @@ std::vector<const char*> MJCF[nMJCF] = {
"lmin", "lmax", "vmax", "fpmax", "fvmax"},
{"adhesion", "*", "name", "class", "group", "nsample", "interp", "delay",
"forcelimited", "ctrlrange", "forcerange", "user", "body", "gain"},
{"dcmotor", "*", "name", "class", "group", "nsample", "interp", "delay",
"ctrllimited", "ctrlrange",
"lengthrange", "gear", "damping", "armature", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
"motorconst", "resistance", "nominal", "saturation",
"inductance", "cogging", "controller", "thermal", "lugre", "input"},
{"plugin", "*", "name", "class", "plugin", "instance", "group", "nsample", "interp", "delay",
"ctrllimited", "forcelimited", "actlimited", "ctrlrange", "forcerange", "actrange",
"lengthrange", "gear", "damping", "armature", "cranklength", "joint", "jointinparent",
@@ -724,33 +734,45 @@ const mjMap mark_map[mark_sz] = {
// dyn type
const int dyn_sz = 6;
const int dyn_sz = 7;
const mjMap dyn_map[dyn_sz] = {
{"none", mjDYN_NONE},
{"integrator", mjDYN_INTEGRATOR},
{"filter", mjDYN_FILTER},
{"filterexact", mjDYN_FILTEREXACT},
{"muscle", mjDYN_MUSCLE},
{"dcmotor", mjDYN_DCMOTOR},
{"user", mjDYN_USER}
};
// dcmotor controller input mode
const int dcmotorinput_sz = 3;
const mjMap dcmotorinput_map[dcmotorinput_sz] = {
{"voltage", 0},
{"position", 1},
{"velocity", 2}
};
// gain type
const int gain_sz = 4;
const int gain_sz = 5;
const mjMap gain_map[gain_sz] = {
{"fixed", mjGAIN_FIXED},
{"affine", mjGAIN_AFFINE},
{"muscle", mjGAIN_MUSCLE},
{"dcmotor", mjGAIN_DCMOTOR},
{"user", mjGAIN_USER}
};
// bias type
const int bias_sz = 4;
const int bias_sz = 5;
const mjMap bias_map[bias_sz] = {
{"none", mjBIAS_NONE},
{"affine", mjBIAS_AFFINE},
{"muscle", mjBIAS_MUSCLE},
{"dcmotor", mjBIAS_DCMOTOR},
{"user", mjBIAS_USER}
};
@@ -2498,6 +2520,54 @@ void mjXReader::OneActuator(XMLElement* elem, mjsActuator* actuator) {
err = mjs_setToAdhesion(actuator, gain);
}
// DC motor
else if (type == "dcmotor") {
bool inherited = (actuator->gaintype == mjGAIN_DCMOTOR);
double motorconst[2] = {inherited ? actuator->gainprm[1] : 0, 0};
double resistance = inherited ? actuator->gainprm[0] : 0;
double nominal[3] = {0, 0, 0};
double saturation[4] = {0, 0,
inherited ? actuator->dynprm[1] : 0,
inherited ? actuator->gainprm[8] : 0};
double controller[5] = {inherited ? actuator->gainprm[5] : 0,
inherited ? actuator->gainprm[6] : 0,
inherited ? actuator->gainprm[7] : 0,
inherited ? actuator->dynprm[7] : 0,
inherited ? actuator->dynprm[8] : 0};
double inductance[2] = {0, inherited ? actuator->dynprm[0] : 0};
double cogging[3] = {inherited ? actuator->biasprm[0] : 0,
inherited ? actuator->biasprm[1] : 0,
inherited ? actuator->biasprm[2] : 0};
double thermal[6] = {inherited ? actuator->dynprm[2] : 0,
inherited ? actuator->dynprm[3] : 0,
0,
inherited ? actuator->gainprm[2] : 0,
inherited ? actuator->gainprm[3] : 0,
inherited ? actuator->dynprm[4] : 0};
double lugre[6] = {inherited ? actuator->dynprm[5] : 0,
inherited ? actuator->dynprm[6] : 0,
inherited ? actuator->damping[0] : 0,
inherited ? actuator->biasprm[3] : 0,
inherited ? actuator->biasprm[4] : 0,
inherited ? actuator->biasprm[5] : 0};
int input_mode = inherited ? (int)actuator->gainprm[9] : 0;
ReadAttr(elem, "motorconst", 2, motorconst, text, false, false);
ReadAttr(elem, "resistance", 1, &resistance, text);
ReadAttr(elem, "nominal", 3, nominal, text, false, false);
ReadAttr(elem, "saturation", 4, saturation, text, false, false);
ReadAttr(elem, "inductance", 2, inductance, text, false, false);
ReadAttr(elem, "cogging", 3, cogging, text, false, false);
ReadAttr(elem, "controller", 5, controller, text, false, false);
ReadAttr(elem, "thermal", 6, thermal, text, false, false);
ReadAttr(elem, "lugre", 6, lugre, text, false, false);
if (MapValue(elem, "input", &input_mode, dcmotorinput_map, dcmotorinput_sz)) {
// successfully parsed
}
err = mjs_setToDCMotor(actuator, motorconst, resistance,
nominal, saturation, inductance,
cogging, controller, thermal, lugre, input_mode);
}
else if (type == "plugin") {
OnePlugin(elem, &actuator->plugin);
int n;
@@ -2962,7 +3032,8 @@ void mjXReader::Default(XMLElement* section, const mjsDefault* def, const mjVFS*
name == "intvelocity" ||
name == "cylinder" ||
name == "muscle" ||
name == "adhesion") {
name == "adhesion" ||
name == "dcmotor") {
OneActuator(elem, def->actuator);
}