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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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test/engine/engine_forward_test.cc
+105 -5
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@@ -1416,7 +1416,7 @@ TEST_F(DCMotorTest, LuGreViscousFriction) {
</worldbody>
<actuator>
<dcmotor joint="joint" motorconst="0.05" resistance="2.0"
lugre="100 1 0.01 0.5 0.7 10"/>
damping="0.01" lugre="100 1 0.5 0.7 10"/>
</actuator>
</mujoco>
)";
@@ -1929,7 +1929,7 @@ TEST_F(DCMotorTest, CurrentRateLimit) {
</worldbody>
<actuator>
<dcmotor joint="joint" motorconst="0.05" resistance="2.0"
inductance="0.01 0" saturation="0 0 100 0"/>
inductance="0.01 0" saturation="0 0 100"/>
</actuator>
</mujoco>
)";
@@ -1963,6 +1963,106 @@ TEST_F(DCMotorTest, CurrentRateLimit) {
mj_deleteModel(model);
}
TEST_F(DCMotorTest, VoltageLimit) {
// verifies that saturation:voltage clamps voltage
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint name="joint"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<dcmotor joint="joint" motorconst="0.05" resistance="2.0"
input="position" controller="1 0 0 0 0 10.0"/>
</actuator>
</mujoco>
)";
char error[1024];
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
mjData* data = mj_makeData(model);
// Vmax = 10.0, ctrl = 20.0
// force = K/R * Vmax = 0.05 / 2.0 * 10.0 = 0.25
data->ctrl[0] = 20.0;
mj_forward(model, data);
EXPECT_NEAR(data->actuator_force[0], 0.25, MjTol(1e-12, 1e-5));
// negative drive
data->ctrl[0] = -20.0;
mj_forward(model, data);
EXPECT_NEAR(data->actuator_force[0], -0.25, MjTol(1e-12, 1e-5));
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(DCMotorTest, IntegralClamp) {
// verifies that controller Imax clamps integral state
static constexpr char xml[] = R"(
<mujoco>
<option timestep="0.001"/>
<worldbody>
<body>
<joint name="joint"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<dcmotor joint="joint" input="position" controller="2.0 0.5 0 0 5.0"
motorconst="0.05" resistance="2.0"/>
</actuator>
</mujoco>
)";
char error[1024];
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
mjData* data = mj_makeData(model);
// Imax = 5.0
ASSERT_EQ(model->actuator_actnum[0], 1); // only ki is stateful
int adr = model->actuator_actadr[0];
// set integral state to Imax
data->act[adr] = 5.0;
// set target to generate positive error (ctrl - length)
data->ctrl[0] = 1.0; // target
data->qpos[0] = 0.0; // length = 0
mj_forward(model, data);
// act_dot should be clamped to 0 because act >= Imax and error > 0
EXPECT_NEAR(data->act_dot[adr], 0.0, MjTol(1e-12, 1e-5));
// set target to generate negative error
data->ctrl[0] = -1.0;
mj_forward(model, data);
// act_dot should be negative (not clamped)
EXPECT_NEAR(data->act_dot[adr], -1.0, MjTol(1e-12, 1e-5));
// set integral state to -Imax
data->act[adr] = -5.0;
// set target to generate negative error
data->ctrl[0] = -1.0;
data->qpos[0] = 0.0;
mj_forward(model, data);
// act_dot should be clamped to 0 because act <= -Imax and error < 0
EXPECT_NEAR(data->act_dot[adr], 0.0, MjTol(1e-12, 1e-5));
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(DCMotorTest, LuGreExactIntegration) {
static constexpr char xml[] = R"(
<mujoco>
@@ -1975,7 +2075,7 @@ TEST_F(DCMotorTest, LuGreExactIntegration) {
</worldbody>
<actuator>
<dcmotor joint="joint" motorconst="0.05" resistance="2.0"
lugre="100 1 0.01 0.5 0.7 10"/>
damping="0.01" lugre="100 1 0.5 0.7 10"/>
</actuator>
</mujoco>
)";
@@ -2021,7 +2121,7 @@ TEST_F(DCMotorTest, LuGreSteadyState) {
</worldbody>
<actuator>
<dcmotor joint="joint" motorconst="0.05" resistance="2.0"
lugre="100 1 0.01 0.5 0.7 10"/>
damping="0.01" lugre="100 1 0.5 0.7 10"/>
</actuator>
</mujoco>
)";
@@ -2068,7 +2168,7 @@ TEST_F(DCMotorTest, LuGreBristleSpring) {
</worldbody>
<actuator>
<dcmotor joint="joint" motorconst="0.05" resistance="2.0"
lugre="100 1 0.01 0.5 0.7 10"/>
damping="0.01" lugre="100 1 0.5 0.7 10"/>
</actuator>
</mujoco>
)";