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Add kv damping attribute to position and intvelocity actuator shortcuts.

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PiperOrigin-RevId: 588377097
Change-Id: I8ded2ff982e52ed8673019979e29b706ef65c743
This commit is contained in:
Yuval Tassa
2023-12-06 04:27:34 -08:00
committed by Copybara-Service
parent b3ccf67ebf
commit 762371c3e4
8 changed files with 250 additions and 142 deletions
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src/xml/xml_native_reader.cc
+21 -30
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@@ -166,16 +166,16 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
"dyntype", "gaintype", "biastype", "dynprm", "gainprm", "biasprm", "actearly"},
{"motor", "?", "8", "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"gear", "cranklength", "user", "group"},
{"position", "?", "9", "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
{"position", "?", "10", "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"gear", "cranklength", "user", "group",
"kp"},
"kp", "kv"},
{"velocity", "?", "9", "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"gear", "cranklength", "user", "group",
"kv"},
{"intvelocity", "?", "10", "ctrllimited", "forcelimited",
{"intvelocity", "?", "11", "ctrllimited", "forcelimited",
"ctrlrange", "forcerange", "actrange",
"gear", "cranklength", "user", "group",
"kp"},
"kp", "kv"},
{"damper", "?", "8", "forcelimited", "ctrlrange", "forcerange",
"gear", "cranklength", "user", "group",
"kv"},
@@ -379,22 +379,22 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
"ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"lengthrange", "gear", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite"},
{"position", "*", "19", "name", "class", "group",
{"position", "*", "20", "name", "class", "group",
"ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"lengthrange", "gear", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
"kp"},
"kp", "kv"},
{"velocity", "*", "19", "name", "class", "group",
"ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"lengthrange", "gear", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
"kv"},
{"intvelocity", "*", "20", "name", "class", "group",
{"intvelocity", "*", "21", "name", "class", "group",
"ctrllimited", "forcelimited",
"ctrlrange", "forcerange", "actrange", "lengthrange",
"gear", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
"kp"},
"kp", "kv"},
{"damper", "*", "18", "name", "class", "group",
"forcelimited", "ctrlrange", "forcerange",
"lengthrange", "gear", "cranklength", "user",
@@ -1895,19 +1895,26 @@ void mjXReader::OneActuator(XMLElement* elem, mjCActuator* pact) {
pact->biastype = mjBIAS_NONE;
}
// position servo
else if (type=="position") {
// clear bias
mjuu_zerovec(pact->biasprm, mjNBIAS);
// position or integrated velocity servo
else if (type=="position" || type=="intvelocity") {
// explicit attributes
ReadAttr(elem, "kp", 1, pact->gainprm, text);
pact->biasprm[1] = -pact->gainprm[0];
if (ReadAttr(elem, "kv", 1, pact->biasprm + 2, text)) {
if (pact->biasprm[2] < 0)
throw mjXError(elem, "kv cannot be negative");
pact->biasprm[2] *= -1;
}
// implied parameters
pact->dyntype = mjDYN_NONE;
pact->gaintype = mjGAIN_FIXED;
pact->biastype = mjBIAS_AFFINE;
if (type=="intvelocity") {
pact->dyntype = mjDYN_INTEGRATOR;
pact->actlimited = 1;
}
}
// velocity servo
@@ -1925,22 +1932,6 @@ 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 = 1;
pact->biasprm[1] = -pact->gainprm[0];
}
// damper
else if (type=="damper") {
// clear gain