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Add timeconst attribute to position actuator.

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PiperOrigin-RevId: 635018979
Change-Id: I919573f4241ecb4a4c61c3b8b6641b31aa79eca4
This commit is contained in:
Tom Erez
2024-05-18 03:37:10 -07:00
committed by Copybara-Service
parent 875823ba96
commit 727893f0f2
6 changed files with 127 additions and 18 deletions
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doc/XMLreference.rst
+18 -8
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@@ -4972,15 +4972,16 @@ This element does not have custom attributes. It only has common attributes, whi
:el-prefix:`actuator/` |-| **position** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a position servo. The underlying :el:`general` attributes are set as follows:
This element creates a position servo with an optional first-order filter. The underlying :el:`general` attributes are
set as follows:
========= ======= ========= =========
Attribute Setting Attribute Setting
========= ======= ========= =========
dyntype none dynprm 1 0 0
gaintype fixed gainprm kp 0 0
biastype affine biasprm 0 -kp -kv
========= ======= ========= =========
========= =================== ========= =============
Attribute Setting Attribute Setting
========= =================== ========= =============
dyntype none or filterexact dynprm timeconst 0 0
gaintype fixed gainprm kp 0 0
biastype affine biasprm 0 -kp -kv
========= =================== ========= =============
This element has one custom attribute in addition to the common attributes:
@@ -5040,6 +5041,13 @@ This element has one custom attribute in addition to the common attributes:
Damping applied by the actuator.
When using this attribute, it is recommended to use the implicitfast or implicit :ref:`integrators<geIntegration>`.
.. _actuator-position-timeconst:
:at:`timeconst`: :at-val:`real, "0"`
Time-constant of the first-order filter. If larger than zero, the actuator uses the :at:`filterexact`
:ref:`dynamics type<actuator-general-dyntype>`, if zero (the default) no filter is used.
.. _actuator-position-inheritrange:
:at:`inheritrange`: :at-val:`real, "0"`
@@ -8085,6 +8093,8 @@ tendon, slidersite, cranksite.
.. _default-position-kv:
.. _default-position-timeconst:
:el-prefix:`default/` |-| **position** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
doc/XMLschema.rst
+2 -2
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@@ -705,7 +705,7 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`cranksite<actuator-position-cranksite>` | :ref:`site<actuator-position-site>` | :ref:`refsite<actuator-position-refsite>` | :ref:`kp<actuator-position-kp>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`kv<actuator-position-kv>` | | | | |
| | | | :ref:`kv<actuator-position-kv>` | :ref:`timeconst<actuator-position-timeconst>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| actuator |br| |_| |L| | | .. table:: |
@@ -1477,7 +1477,7 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`forcerange<default-position-forcerange>` | :ref:`gear<default-position-gear>` | :ref:`cranklength<default-position-cranklength>` | :ref:`user<default-position-user>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`group<default-position-group>` | :ref:`kp<default-position-kp>` | :ref:`kv<default-position-kv>` | | |
| | | | :ref:`group<default-position-group>` | :ref:`kp<default-position-kp>` | :ref:`kv<default-position-kv>` | :ref:`timeconst<default-position-timeconst>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
doc/changelog.rst
+4 -2
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@@ -11,13 +11,15 @@ General
1. Added :ref:`mj_geomDistance` for computing the shortest signed distance between two geoms and optionally a segment
connecting them. Relatedly, added the 3 sensors: :ref:`distance<sensor-distance>`, :ref:`normal<sensor-normal>`,
:ref:`fromto<sensor-fromto>`. See the function and sensor documentation for details. Fixes :github:issue:`51`.
2. Added :ref:`timeconst<actuator-position-timeconst>` attribute to the :ref:`position actuator<actuator-position>`.
When set to a positive value, the actuator is made stateful with :at:`filterexact` dynamics.
Bug fixes
^^^^^^^^^
2. Fixed a bug the could cause collisions to be missed when :ref:`fusestatic<compiler-fusestatic>` is enabled, as is
3. Fixed a bug the could cause collisions to be missed when :ref:`fusestatic<compiler-fusestatic>` is enabled, as is
often the case for URDF imports. Fixes :github:issue:`1069`, :github:issue:`1577`.
3. Fixed a bug that was causing the visualization of SDF iterations to write outside the size of the vector storing
4. Fixed a bug that was causing the visualization of SDF iterations to write outside the size of the vector storing
them. Fixes :github:issue:`1539`.
Version 3.1.5 (May 7, 2024)
src/user/user_objects.cc
+1 -1
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@@ -5125,7 +5125,7 @@ void mjCActuator::Compile(void) {
gainprm[0] == -biasprm[1] && inheritrange > 0) {
// semantic of actuator is the same as transmission, inheritrange is applicable
double* range;
if (dyntype == mjDYN_NONE) {
if (dyntype == mjDYN_NONE || dyntype == mjDYN_FILTEREXACT) {
// position actuator
range = ctrlrange;
} else if (dyntype == mjDYN_INTEGRATOR) {
src/xml/xml_native_reader.cc
+10 -5
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@@ -177,9 +177,8 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
"dyntype", "gaintype", "biastype", "dynprm", "gainprm", "biasprm", "actearly"},
{"motor", "?", "8", "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"gear", "cranklength", "user", "group"},
{"position", "?", "11", "ctrllimited", "forcelimited", "ctrlrange", "inheritrange",
"forcerange", "gear", "cranklength", "user", "group",
"kp", "kv"},
{"position", "?", "12", "ctrllimited", "forcelimited", "ctrlrange", "inheritrange",
"forcerange", "gear", "cranklength", "user", "group", "kp", "kv", "timeconst"},
{"velocity", "?", "9", "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"gear", "cranklength", "user", "group",
"kv"},
@@ -390,11 +389,11 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
"ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"lengthrange", "gear", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite"},
{"position", "*", "21", "name", "class", "group",
{"position", "*", "22", "name", "class", "group",
"ctrllimited", "forcelimited", "ctrlrange", "inheritrange", "forcerange",
"lengthrange", "gear", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
"kp", "kv"},
"kp", "kv", "timeconst"},
{"velocity", "*", "19", "name", "class", "group",
"ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"lengthrange", "gear", "cranklength", "user",
@@ -2094,6 +2093,12 @@ void mjXReader::OneActuator(XMLElement* elem, mjsActuator* pact) {
pact->biasprm[2] *= -1;
}
if (ReadAttr(elem, "timeconst", 1, pact->dynprm, text)) {
if (pact->dynprm[0] < 0)
throw mjXError(elem, "timeconst cannot be negative");
pact->dyntype = pact->dynprm[0] ? mjDYN_FILTEREXACT : mjDYN_NONE;
}
ReadAttr(elem, "inheritrange", 1, &pact->inheritrange, text);
if (pact->inheritrange > 0) {
if (type == "position") {
test/xml/xml_native_reader_test.cc
+92
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@@ -1407,6 +1407,98 @@ TEST_F(ActuatorTest, ReadsByte) {
using ActuatorParseTest = MujocoTest;
TEST_F(ActuatorParseTest, PositionTimeconst) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1"/>
<joint name="jnt"/>
</body>
</worldbody>
<actuator>
<position joint="jnt" timeconst="2"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull());
ASSERT_NEAR(model->actuator_dynprm[0], 2.0, 1e-6);
EXPECT_THAT(model->actuator_dyntype[0], Eq(mjDYN_FILTEREXACT));
mj_deleteModel(model);
}
TEST_F(ActuatorParseTest, PositionTimeconstInheritrange) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1"/>
<joint name="jnt" range="-1 1"/>
</body>
</worldbody>
<actuator>
<position joint="jnt" inheritrange="1" timeconst="2"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull());
mj_deleteModel(model);
}
TEST_F(ActuatorParseTest, PositionTimeconstDefault) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<position timeconst="1"/>
</default>
<worldbody>
<body>
<geom size="1"/>
<joint name="jnt"/>
</body>
</worldbody>
<actuator>
<position joint="jnt"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull());
ASSERT_NEAR(model->actuator_dynprm[0], 1.0, 1e-6);
EXPECT_THAT(model->actuator_dyntype[0], Eq(mjDYN_FILTEREXACT));
mj_deleteModel(model);
}
TEST_F(ActuatorParseTest, PositionTimeconstDefaultOverride) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<position timeconst="1"/>
</default>
<worldbody>
<body>
<geom size="1"/>
<joint name="jnt"/>
</body>
</worldbody>
<actuator>
<position joint="jnt" timeconst="0"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull());
EXPECT_FALSE(model->actuator_dynprm[0]);
EXPECT_THAT(model->actuator_dyntype[0], Eq(mjDYN_NONE));
mj_deleteModel(model);
}
TEST_F(ActuatorParseTest, ReadsDamper) {
static constexpr char xml[] = R"(
<mujoco>