Runtime disabling of actuators according to group.
Added `option-actuatorgroupdisable` attribute and associated `mjOption.disableactuator` integer bitfield, used to disable sets of actuators at runtime according to their group. - The first 6 actuator groups are toggleable in the `simulate` viewer. - Minor refactor and cleanup of actuator documentation. https://youtu.be/H9qG9Zf2W44 Fixes #1092. PiperOrigin-RevId: 578335600 Change-Id: I4cf663b90ea768e4380acfa2fe3b8c15c7cbb568
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
45878b7eef
commit
893c404230
+71
-14
@@ -716,6 +716,16 @@ void MakePhysicsSection(mj::Simulate* sim, int oldstate) {
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{mjITEM_EDITNUM, "Friction", 2, &(opt->o_friction), "5"},
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{mjITEM_END}
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};
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mjuiDef defDisableActuator[] = {
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{mjITEM_SEPARATOR, "Actuator Group Enable", 1},
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{mjITEM_CHECKBYTE, "Act Group 0", 2, sim->enableactuator+0, " 0"},
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{mjITEM_CHECKBYTE, "Act Group 1", 2, sim->enableactuator+1, " 1"},
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{mjITEM_CHECKBYTE, "Act Group 2", 2, sim->enableactuator+2, " 2"},
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{mjITEM_CHECKBYTE, "Act Group 3", 2, sim->enableactuator+3, " 3"},
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{mjITEM_CHECKBYTE, "Act Group 4", 2, sim->enableactuator+4, " 4"},
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{mjITEM_CHECKBYTE, "Act Group 5", 2, sim->enableactuator+5, " 5"},
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{mjITEM_END}
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};
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// add physics
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mjui_add(&sim->ui0, defPhysics);
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@@ -736,9 +746,11 @@ void MakePhysicsSection(mj::Simulate* sim, int oldstate) {
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defFlag[0].pdata = sim->enable + i;
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mjui_add(&sim->ui0, defFlag);
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}
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// add contact override
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mjui_add(&sim->ui0, defOverride);
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// add actuator group enable/disable
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mjui_add(&sim->ui0, defDisableActuator);
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}
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@@ -1002,7 +1014,7 @@ void MakeJointSection(mj::Simulate* sim, int oldstate) {
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// add scalar joints, exit if UI limit reached
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int itemcnt = 0;
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for (int i=0; i < sim->jnt_type_.size() && itemcnt<mjMAXUIITEM; i++)
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for (int i=0; i < sim->jnt_type_.size() && itemcnt<mjMAXUIITEM; i++) {
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if ((sim->jnt_type_[i]==mjJNT_HINGE || sim->jnt_type_[i]==mjJNT_SLIDE)) {
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// skip if joint group is disabled
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if (!sim->opt.jointgroup[mjMAX(0, mjMIN(mjNGROUP-1, sim->jnt_group_[i]))]) {
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@@ -1035,6 +1047,7 @@ void MakeJointSection(mj::Simulate* sim, int oldstate) {
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mjui_add(&sim->ui1, defSlider);
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itemcnt++;
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}
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}
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}
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// make control section of UI
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@@ -1051,15 +1064,21 @@ void MakeControlSection(mj::Simulate* sim, int oldstate) {
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// add section
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mjui_add(&sim->ui1, defControl);
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defSlider[0].state = 2;
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// add controls, exit if UI limit reached (Clear button already added)
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int itemcnt = 1;
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for (int i=0; i < sim->actuator_ctrlrange_.size() && itemcnt<mjMAXUIITEM; i++) {
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// skip if actuator group is disabled
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if (!sim->opt.actuatorgroup[mjMAX(0, mjMIN(mjNGROUP-1, sim->actuator_group_[i]))]) {
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// skip if actuator vis group is disabled
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int group = sim->actuator_group_[i];
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if (!sim->opt.actuatorgroup[mjMAX(0, mjMIN(mjNGROUP-1, group))]) {
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continue;
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}
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// grey out if actuator group is disabled
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if (group >= 0 && group <= 30 && sim->m_->opt.disableactuator & (1 << group)) {
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defSlider[0].state = 0;
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} else {
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defSlider[0].state = 2;
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}
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// set data and name
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if (!sim->is_passive_) {
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@@ -1189,19 +1208,27 @@ void CopyCamera(mj::Simulate* sim) {
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void UpdateSettings(mj::Simulate* sim, const mjModel* m) {
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// physics flags
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for (int i=0; i<mjNDISABLE; i++) {
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int new_value = ((m->opt.disableflags & (1<<i)) !=0);
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int new_value = ((m->opt.disableflags & (1<<i)) != 0);
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if (sim->disable[i] != new_value) {
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sim->disable[i] = new_value;
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sim->pending_.ui_update_physics = true;
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}
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}
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for (int i=0; i<mjNENABLE; i++) {
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int new_value = ((m->opt.enableflags & (1<<i)) !=0);
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int new_value = ((m->opt.enableflags & (1<<i)) != 0);
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if (sim->enable[i] != new_value) {
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sim->enable[i] = new_value;
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sim->pending_.ui_update_physics = true;
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}
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}
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for (int i=0; i<mjNGROUP; i++) {
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int enabled = ((m->opt.disableactuator & (1<<i)) == 0);
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if (sim->enableactuator[i] != enabled) {
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sim->enableactuator[i] = enabled;
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sim->pending_.ui_update_physics = true;
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sim->pending_.ui_remake_ctrl = true;
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}
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}
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// camera
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int old_camera = sim->camera;
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@@ -1404,17 +1431,39 @@ void UiEvent(mjuiState* state) {
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// update disable flags in mjOption
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opt->disableflags = 0;
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for (int i=0; i<mjNDISABLE; i++)
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for (int i=0; i<mjNDISABLE; i++) {
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if (sim->disable[i]) {
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opt->disableflags |= (1<<i);
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}
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}
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// update enable flags in mjOption
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opt->enableflags = 0;
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for (int i=0; i<mjNENABLE; i++)
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for (int i=0; i<mjNENABLE; i++) {
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if (sim->enable[i]) {
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opt->enableflags |= (1<<i);
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}
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}
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// update disableactuator bitflag in mjOption
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bool group_changed = false;
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for (int i=0; i<mjNGROUP; i++) {
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if ((!sim->enableactuator[i]) != (opt->disableactuator & (1<<i))) {
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group_changed = true;
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if (!sim->enableactuator[i]) {
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// disable actuator group i
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opt->disableactuator |= (1<<i);
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} else {
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// enable actuator group i
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opt->disableactuator &= ~(1<<i);
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}
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}
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}
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// remake control section if actuator disable group changed
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if (group_changed) {
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sim->pending_.ui_remake_ctrl = true;
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}
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}
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// rendering section
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@@ -1461,10 +1510,7 @@ void UiEvent(mjuiState* state) {
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// remake control section if actuator group changed
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if (it->name[0]=='A' && it->name[1]=='c') {
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sim->ui1.nsect = SECT_CONTROL;
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MakeControlSection(sim, sim->ui1.sect[SECT_CONTROL].state);
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sim->ui1.nsect = NSECT1;
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UiModify(&sim->ui1, state, &sim->platform_ui->mjr_context());
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sim->pending_.ui_remake_ctrl = true;
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}
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}
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@@ -1790,7 +1836,7 @@ void Simulate::Sync() {
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range.emplace(m_->actuator_ctrlrange[2*i], m_->actuator_ctrlrange[2*i + 1]);
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}
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if (actuator_ctrlrange_[i] != range) {
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pending_.ui_update_ctrl = true;
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pending_.ui_remake_ctrl = true;
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actuator_ctrlrange_[i].swap(range);
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}
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}
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@@ -1851,6 +1897,7 @@ void Simulate::Sync() {
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X(mpr_iterations);
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X(disableflags);
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X(enableflags);
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X(disableactuator);
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X(sdf_initpoints);
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X(sdf_iterations);
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@@ -2399,6 +2446,16 @@ void Simulate::Render() {
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pending_.ui_update_joint = false;
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}
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if (pending_.ui_remake_ctrl) {
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if (this->ui1_enable && this->ui1.sect[SECT_CONTROL].state) {
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this->ui1.nsect = SECT_CONTROL;
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MakeControlSection(this, this->ui1.sect[SECT_CONTROL].state);
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this->ui1.nsect = NSECT1;
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UiModify(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
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}
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pending_.ui_remake_ctrl = false;
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}
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if (pending_.ui_update_ctrl) {
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if (this->ui1_enable && this->ui1.sect[SECT_CONTROL].state) {
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mjui_update(SECT_CONTROL, -1, &this->ui1, &this->uistate, &this->platform_ui->mjr_context());
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