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Changes to dcmotor:

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- Remove `lugre:viscous`, should now be added directly to actuator `damping`. Trying to do this for the user was incompatible with default inheritance (compounding instead of overriding).
- Move voltage limiting from the `saturation` to the `controller` attribute.
- Fix indexing issues in default inheritance.

PiperOrigin-RevId: 897087642
Change-Id: I5388c2633e15c7e223992e7eb5d6a28db75a6438
This commit is contained in:
Yuval Tassa
2026-04-09 06:51:57 -07:00
committed by Copybara-Service
parent 26fb65c7a7
commit 81720071b8
14 changed files with 335 additions and 85 deletions
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src/xml/xml_native_reader.cc
+11 -12
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@@ -2526,14 +2526,14 @@ void mjXReader::OneActuator(XMLElement* elem, mjsActuator* actuator) {
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,
double saturation[3] = {0, 0,
inherited ? actuator->dynprm[1] : 0};
double controller[6] = {inherited ? actuator->gainprm[4] : 0,
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};
inherited ? actuator->dynprm[8] : 0,
inherited ? actuator->gainprm[7] : 0};
double inductance[2] = {0, inherited ? actuator->dynprm[0] : 0};
double cogging[3] = {inherited ? actuator->biasprm[0] : 0,
inherited ? actuator->biasprm[1] : 0,
@@ -2544,22 +2544,21 @@ void mjXReader::OneActuator(XMLElement* elem, mjsActuator* actuator) {
inherited ? actuator->gainprm[2] : 0,
inherited ? actuator->gainprm[3] : 0,
inherited ? actuator->dynprm[4] : 0};
double lugre[6] = {inherited ? actuator->dynprm[5] : 0,
double lugre[5] = {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;
int input_mode = inherited ? (int)actuator->gainprm[8] : 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, "saturation", 3, 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, "controller", 6, controller, text, false, false);
ReadAttr(elem, "thermal", 6, thermal, text, false, false);
ReadAttr(elem, "lugre", 6, lugre, text, false, false);
ReadAttr(elem, "lugre", 5, lugre, text, false, false);
if (MapValue(elem, "input", &input_mode, dcmotorinput_map, dcmotorinput_sz)) {
// successfully parsed
}