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Runtime disabling of actuators according to group.

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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
2023-10-31 16:23:58 -07:00
committed by Copybara-Service
parent 45878b7eef
commit 893c404230
25 changed files with 525 additions and 125 deletions
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test/engine/engine_forward_test.cc
+74
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@@ -984,5 +984,79 @@ TEST_F(ActEarlyTest, DoesntChangeStateInMjForward) {
mj_deleteModel(model);
}
TEST_F(ActuatorTest, DisableActuator) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint name="slide" type="slide" axis="1 0 0"/>
<geom size="1" mass="1"/>
</body>
</worldbody>
<actuator>
<motor joint="slide" gear="2" group="0"/>
<position joint="slide" kp="1" group="1"/>
</actuator>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
mjData* data = mj_makeData(model);
data->ctrl[0] = 1.0;
data->ctrl[1] = 1.0;
mj_forward(model, data);
EXPECT_EQ(data->qfrc_actuator[0], 3.0);
model->opt.disableactuator = 1 << 0;
mj_forward(model, data);
EXPECT_EQ(data->qfrc_actuator[0], 1.0);
model->opt.disableactuator = 1 << 1;
mj_forward(model, data);
EXPECT_EQ(data->qfrc_actuator[0], 2.0);
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(ActuatorTest, DisableActuatorOutOfRange) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint name="slide" type="slide" axis="1 0 0"/>
<geom size="1" mass="1"/>
</body>
</worldbody>
<actuator>
<motor joint="slide" gear="-1" group="-1"/>
<motor joint="slide" gear="5" group="0"/>
<motor joint="slide" gear="31" group="31"/>
</actuator>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
mjData* data = mj_makeData(model);
data->ctrl[0] = 1.0;
data->ctrl[1] = 1.0;
data->ctrl[2] = 1.0;
// all actuators active
mj_forward(model, data);
EXPECT_EQ(data->qfrc_actuator[0], 35.0);
// set all bits of disableactuator, only group 1 is disabled
model->opt.disableactuator = ~0;
mj_forward(model, data);
EXPECT_EQ(data->qfrc_actuator[0], 30.0);
mj_deleteData(data);
mj_deleteModel(model);
}
} // namespace
} // namespace mujoco