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Added optional smoothing to muscle dynamics:

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- `muscle` actuators take a new `tausmooth` attribute (defaults to 0) which when positive, smooths the transition between activation and deactivation timescales.
- `mju_muscleDynamics` takes 3 parameters, adding width of smoothing sigmoid.

PiperOrigin-RevId: 531473354
Change-Id: I8ab6c0289ff04437e798c3ca6edda132a30fcc31
This commit is contained in:
Yuval Tassa
2023-05-12 04:58:17 -07:00
committed by Copybara-Service
parent 777cad52b4
commit 770b4b363a
13 changed files with 180 additions and 34 deletions
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test/xml/xml_native_reader_test.cc
+43 -1
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@@ -934,6 +934,49 @@ TEST_F(ActuatorParseTest, ActdimDefaultsPropagate) {
mj_deleteModel(model);
}
TEST_F(ActuatorParseTest, MusclesParseSmoothdyn) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1"/>
<joint name="hinge" limited="true" range="-1 1"/>
</body>
</worldbody>
<actuator>
<muscle joint="hinge"/>
<muscle joint="hinge" tausmooth="0.4"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_EQ(model->actuator_dynprm[2], 0.0);
EXPECT_EQ(model->actuator_dynprm[mjNDYN + 2], 0.4);
mj_deleteModel(model);
}
TEST_F(ActuatorParseTest, MusclesSmoothdynNegative) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1"/>
<joint name="hinge" limited="true" range="-1 1"/>
</body>
</worldbody>
<actuator>
<muscle joint="hinge" tausmooth="-0.4"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("muscle tausmooth cannot be negative"));
}
// ------------- test sensor parsing -------------------------------------------
using SensorParseTest = MujocoTest;
@@ -1039,6 +1082,5 @@ TEST_F(XMLReaderTest, ExtentNegativeNotAllowed) {
EXPECT_THAT(error.data(), HasSubstr("extent must be strictly positive"));
}
} // namespace
} // namespace mujoco