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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/xml/xml_native_reader_test.cc
+105 -4
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@@ -3108,7 +3108,55 @@ TEST_F(ActuatorParseTest, DCMotorSaturation) {
mj_deleteModel(model);
}
TEST_F(ActuatorParseTest, DCMotorLuGreRemapping) {
TEST_F(ActuatorParseTest, DCMotorInheritedDefaults) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<dcmotor motorconst="1.0" resistance="1.0" controller="2.0 0.5 0.1 10.0 5.0 12.0"
saturation="0 0 0" inductance="0 0.01" input="velocity"/>
</default>
<worldbody>
<body>
<geom size="1"/>
<joint name="jnt"/>
</body>
</worldbody>
<actuator>
<dcmotor joint="jnt" motorconst="0.05" resistance="2.0"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
// check motorconst and resistance are overridden by instance
EXPECT_MJTNUM_EQ(model->actuator_gainprm[1], 0.05);
EXPECT_MJTNUM_EQ(model->actuator_gainprm[0], 2.0);
// check controller gains (kp, ki, kd) in gainprm[4:6]
EXPECT_MJTNUM_EQ(model->actuator_gainprm[4], 2.0);
EXPECT_MJTNUM_EQ(model->actuator_gainprm[5], 0.5);
EXPECT_MJTNUM_EQ(model->actuator_gainprm[6], 0.1);
// check controller limits (slewmax, Imax) in dynprm[7,8]
EXPECT_MJTNUM_EQ(model->actuator_dynprm[7], 10.0);
EXPECT_MJTNUM_EQ(model->actuator_dynprm[8], 5.0);
// check Vmax in gainprm[7]
EXPECT_MJTNUM_EQ(model->actuator_gainprm[7], 12.0);
// check input mode in gainprm[8]
EXPECT_MJTNUM_EQ(model->actuator_gainprm[8], 2.0);
// check inductance (te) in dynprm[0]
EXPECT_MJTNUM_EQ(model->actuator_dynprm[0], 0.01);
mj_deleteModel(model);
}
TEST_F(ActuatorParseTest, DCMotorControllerFull) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
@@ -3119,7 +3167,36 @@ TEST_F(ActuatorParseTest, DCMotorLuGreRemapping) {
</worldbody>
<actuator>
<dcmotor joint="jnt" motorconst="0.05" resistance="2.0"
lugre="100 1 0.01 0.5 0.7 10"/>
controller="1.0 2.0 3.0 4.0 5.0 6.0"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_MJTNUM_EQ(model->actuator_gainprm[4], 1.0);
EXPECT_MJTNUM_EQ(model->actuator_gainprm[5], 2.0);
EXPECT_MJTNUM_EQ(model->actuator_gainprm[6], 3.0);
EXPECT_MJTNUM_EQ(model->actuator_dynprm[7], 4.0);
EXPECT_MJTNUM_EQ(model->actuator_dynprm[8], 5.0);
EXPECT_MJTNUM_EQ(model->actuator_gainprm[7], 6.0);
mj_deleteModel(model);
}
TEST_F(ActuatorParseTest, DCMotorLuGreRemapping) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1"/>
<joint name="jnt"/>
</body>
</worldbody>
<actuator>
<dcmotor joint="jnt" motorconst="0.05" resistance="2.0" damping="0.01"
lugre="100 1 0.5 0.7 10"/>
</actuator>
</mujoco>
)";
@@ -3135,6 +3212,30 @@ TEST_F(ActuatorParseTest, DCMotorLuGreRemapping) {
mj_deleteModel(model);
}
TEST_F(ActuatorParseTest, DCMotorLuGreInheritedDefaults) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<dcmotor motorconst="0.05" resistance="2.0" damping="0.01" lugre="100 1 0.5 0.7 10"/>
</default>
<worldbody>
<body>
<geom size="1"/>
<joint name="jnt"/>
</body>
</worldbody>
<actuator>
<dcmotor joint="jnt"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_MJTNUM_EQ(model->actuator_damping[0], 0.01);
mj_deleteModel(model);
}
TEST_F(ActuatorParseTest, DCMotorActdimStateless) {
static constexpr char xml[] = R"(
<mujoco>
@@ -3216,7 +3317,7 @@ TEST_F(ActuatorParseTest, DCMotorActdimLuGreOnly) {
</worldbody>
<actuator>
<dcmotor joint="jnt" motorconst="0.05" resistance="2.0"
lugre="100 1 0.01 0.5 0.7 10"/>
lugre="100 1 0.5 0.7 10"/>
</actuator>
</mujoco>
)";
@@ -3241,7 +3342,7 @@ TEST_F(ActuatorParseTest, DCMotorActdimAllThree) {
<dcmotor joint="jnt" motorconst="0.05" resistance="2.0"
inductance="0.001 0"
thermal="10 5 0 0 0 25"
lugre="100 1 0.01 0.5 0.7 10"/>
lugre="100 1 0.5 0.7 10"/>
</actuator>
</mujoco>
)";