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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/user/user_api_test.cc
+49
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@@ -280,6 +280,55 @@ TEST_F(MujocoTest, SetToDCMotorDeriveKe) {
mj_deleteSpec(spec);
}
TEST_F(MujocoTest, SetToDCMotorFull) {
mjSpec* spec = mj_makeSpec();
mjsActuator* actuator = mjs_addActuator(spec, 0);
double motorconst[2] = {0.05, 0.05};
double resistance = 2.0;
double saturation[3] = {1.0, 2.0, 3.0};
double controller[6] = {10.0, 20.0, 30.0, 40.0, 50.0, 60.0};
const char* err = mjs_setToDCMotor(actuator, motorconst, resistance,
nullptr, saturation, nullptr,
nullptr, controller, nullptr,
nullptr, 0);
EXPECT_STREQ(err, "");
EXPECT_EQ(actuator->gainprm[0], 2.0); // resistance
EXPECT_EQ(actuator->gainprm[1], 0.05); // K
EXPECT_EQ(actuator->gainprm[4], 10.0); // kp
EXPECT_EQ(actuator->gainprm[5], 20.0); // ki
EXPECT_EQ(actuator->gainprm[6], 30.0); // kd
EXPECT_EQ(actuator->dynprm[7], 40.0); // slewmax
EXPECT_EQ(actuator->dynprm[8], 50.0); // Imax
EXPECT_EQ(actuator->gainprm[7], 60.0); // Vmax
EXPECT_EQ(actuator->dynprm[1], 3.0); // (di/dt)_max
mj_deleteSpec(spec);
}
TEST_F(MujocoTest, SetToDCMotorLuGre) {
mjSpec* spec = mj_makeSpec();
mjsActuator* actuator = mjs_addActuator(spec, 0);
double motorconst[2] = {0.05, 0.05};
double resistance = 2.0;
double lugre[5] = {100.0, 1.0, 0.5, 0.7, 10.0};
const char* err = mjs_setToDCMotor(actuator, motorconst, resistance,
nullptr, nullptr, nullptr,
nullptr, nullptr, nullptr,
lugre, 0);
EXPECT_STREQ(err, "");
EXPECT_EQ(actuator->dynprm[5], 100.0); // stiffness
EXPECT_EQ(actuator->dynprm[6], 1.0); // damping
EXPECT_EQ(actuator->biasprm[3], 0.5); // coulomb
EXPECT_EQ(actuator->biasprm[4], 0.7); // static
EXPECT_EQ(actuator->biasprm[5], 10.0); // stribeck
mj_deleteSpec(spec);
}
static constexpr char xml_plugin_1[] = R"(
<mujoco model="MuJoCo Model">
<worldbody>