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Rename `actuatorforcerange and actuatorforcelimited, to actuatorfrcrange and actuatorfrclimited`, respectively.

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PiperOrigin-RevId: 556780590
Change-Id: Ide12cf390920f9efe6f79cc9f864a480ce5f256d
This commit is contained in:
Yuval Tassa
2023-08-14 07:18:03 -07:00
committed by Copybara-Service
parent abfa08f6cd
commit a276c49c30
9 changed files with 29 additions and 26 deletions
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doc/XMLreference.rst
+9 -9
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@@ -2339,14 +2339,14 @@ unit quaternions.
attribute is "auto", and :at:`autolimits` is set in :ref:`compiler <compiler>`, joint limits will be enabled
if range is defined.
.. _body-joint-actuatorforcelimited:
.. _body-joint-actuatorfrclimited:
:at:`actuatorforcelimited`: :at-val:`[false, true, auto], "auto"`
:at:`actuatorfrclimited`: :at-val:`[false, true, auto], "auto"`
This attribute specifies whether actuator forces acting on the joint should be clamped. See :ref:`CForceRange` for
details. It is available only for scalar joints (hinge and slider) and ignored for ball and free joints. |br| This
attribute interacts with the actuatorforcerange attribute below. If this attribute is "false", actuator force
attribute interacts with the actuatorfrcrange attribute below. If this attribute is "false", actuator force
clamping is disabled. If it is "true", actuator force clamping is enabled. If this attribute is "auto", and
:at:`autolimits` is set in :ref:`compiler <compiler>`, actuator force clamping will be enabled if actuatorforcerange
:at:`autolimits` is set in :ref:`compiler <compiler>`, actuator force clamping will be enabled if actuatorfrcrange
is defined.
.. _body-joint-solreflimit:
@@ -2380,12 +2380,12 @@ unit quaternions.
|br| Setting this attribute without specifying :at:`limited` is an error, unless :at:`autolimits` is set in
:ref:`compiler <compiler>`.
.. _body-joint-actuatorforcerange:
.. _body-joint-actuatorfrcrange:
:at:`actuatorforcerange`: :at-val:`real(2), "0 0"`
:at:`actuatorfrcrange`: :at-val:`real(2), "0 0"`
Range for clamping total actuator forces acting on this joint. See :ref:`CForceRange` for details. It is available
only for scalar joints (hinge and slider) and ignored for ball and free joints. |br| The compiler expects the first
value to be smaller than the second value. |br| Setting this attribute without specifying :at:`actuatorforcelimited`
value to be smaller than the second value. |br| Setting this attribute without specifying :at:`actuatorfrclimited`
is an error, unless :at:`compiler-autolimits` is set.
.. _body-joint-margin:
@@ -6417,7 +6417,7 @@ if omitted.
.. _default-joint-limited:
.. _default-joint-actuatorforcelimited:
.. _default-joint-actuatorfrclimited:
.. _default-joint-solreflimit:
@@ -6431,7 +6431,7 @@ if omitted.
.. _default-joint-range:
.. _default-joint-actuatorforcerange:
.. _default-joint-actuatorfrcrange:
.. _default-joint-margin:
doc/XMLschema.rst
+4 -4
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@@ -274,9 +274,9 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`pos<body-joint-pos>` | :ref:`axis<body-joint-axis>` | :ref:`springdamper<body-joint-springdamper>` | :ref:`limited<body-joint-limited>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`actuatorforcelimited<body-joint-actuatorforcelimited>` | :ref:`solreflimit<body-joint-solreflimit>` | :ref:`solimplimit<body-joint-solimplimit>` | :ref:`solreffriction<body-joint-solreffriction>` | |
| | | | :ref:`actuatorfrclimited<body-joint-actuatorfrclimited>` | :ref:`solreflimit<body-joint-solreflimit>` | :ref:`solimplimit<body-joint-solimplimit>` | :ref:`solreffriction<body-joint-solreffriction>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`solimpfriction<body-joint-solimpfriction>` | :ref:`stiffness<body-joint-stiffness>` | :ref:`range<body-joint-range>` | :ref:`actuatorforcerange<body-joint-actuatorforcerange>` | |
| | | | :ref:`solimpfriction<body-joint-solimpfriction>` | :ref:`stiffness<body-joint-stiffness>` | :ref:`range<body-joint-range>` | :ref:`actuatorfrcrange<body-joint-actuatorfrcrange>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`margin<body-joint-margin>` | :ref:`ref<body-joint-ref>` | :ref:`springref<body-joint-springref>` | :ref:`armature<body-joint-armature>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
@@ -1138,11 +1138,11 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`type<default-joint-type>` | :ref:`group<default-joint-group>` | :ref:`pos<default-joint-pos>` | :ref:`axis<default-joint-axis>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`springdamper<default-joint-springdamper>` | :ref:`limited<default-joint-limited>` | :ref:`actuatorforcelimited<default-joint-actuatorforcelimited>` | :ref:`solreflimit<default-joint-solreflimit>` | |
| | | | :ref:`springdamper<default-joint-springdamper>` | :ref:`limited<default-joint-limited>` | :ref:`actuatorfrclimited<default-joint-actuatorfrclimited>` | :ref:`solreflimit<default-joint-solreflimit>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`solimplimit<default-joint-solimplimit>` | :ref:`solreffriction<default-joint-solreffriction>` | :ref:`solimpfriction<default-joint-solimpfriction>` | :ref:`stiffness<default-joint-stiffness>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`range<default-joint-range>` | :ref:`actuatorforcerange<default-joint-actuatorforcerange>` | :ref:`margin<default-joint-margin>` | :ref:`ref<default-joint-ref>` | |
| | | | :ref:`range<default-joint-range>` | :ref:`actuatorfrcrange<default-joint-actuatorfrcrange>` | :ref:`margin<default-joint-margin>` | :ref:`ref<default-joint-ref>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`springref<default-joint-springref>` | :ref:`armature<default-joint-armature>` | :ref:`damping<default-joint-damping>` | :ref:`frictionloss<default-joint-frictionloss>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
doc/changelog.rst
+4 -1
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@@ -12,6 +12,9 @@ General
the exact formula rather than with Euler integration.
#. Added an actuator attribute, :ref:`actearly<actuator-general-actearly>`, which uses semi-implicit integration for
actuator forces: using the next step's actuator state to compute the current actuator forces at the current timestep.
#. Renamed ``actuatorforcerange`` and ``actuatorforcelimited``, introduced in the previous version to
:ref:`actuatorfrcrange<body-joint-actuatorfrcrange>` and
:ref:`actuatorfrclimited<body-joint-actuatorfrclimied>`, respectively.
Python bindings
^^^^^^^^^^^^^^^
@@ -26,7 +29,7 @@ General
^^^^^^^
1. Added primitive collider for sphere-cylinder contacts, previously this pair used the generic convex-convex collider.
#. Added :ref:`joint-actuatorforcerange<body-joint-actuatorforcerange>` for clamping total actuator force at joints and
#. Added :ref:`joint-actuatorforcerange<body-joint-actuatorfrcrange>` for clamping total actuator force at joints and
:ref:`sensor-jointactuatorfrc<sensor-jointactuatorfrc>` for measuring total actuation force applied at a joint. The
most important use case for joint-level actuator force clamping is to ensure that
:ref:`Cartesian actuator<actuator-general-refsite>` forces are realizable by individual motors at the joints.
doc/modeling.rst
+1 -1
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@@ -607,7 +607,7 @@ Force clamping at actuator output with :ref:`forcerange<actuator-general-forcera
:ref:`position actuators<actuator-position>`, to keep the forces within bounds. Note that position actuators
usually also require control range clamping to avoid hitting joint limits.
Force clamping at joint input with :ref:`joint/actuatorforcerange<body-joint-actuatorforcerange>`:
Force clamping at joint input with :ref:`joint/actuatorfrcrange<body-joint-actuatorfrcrange>`:
This joint attribute clamps input forces from all actuators acting on the joint, after passing through the
:ref:`transmission<geTransmission>`. Clamping actuator forces at the joint is equivalent to clamping them at the
actuator if the transmission is trivial (there is a one-to-one relationship between the actuator and the joint).
model/car/car.xml
+1 -1
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@@ -17,7 +17,7 @@
</asset>
<default>
<joint damping=".03" actuatorforcerange="-0.5 0.5"/>
<joint damping=".03" actuatorfrcrange="-0.5 0.5"/>
<default class="wheel">
<geom type="cylinder" size=".03 .01" rgba=".5 .5 1 1"/>
</default>
src/xml/xml_native_reader.cc
+6 -6
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@@ -140,8 +140,8 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
{"material", "?", "8", "texture", "emission", "specular", "shininess",
"reflectance", "rgba", "texrepeat", "texuniform"},
{"joint", "?", "21", "type", "group", "pos", "axis", "springdamper",
"limited", "actuatorforcelimited", "solreflimit", "solimplimit",
"solreffriction", "solimpfriction", "stiffness", "range", "actuatorforcerange",
"limited", "actuatorfrclimited", "solreflimit", "solimplimit",
"solreffriction", "solimpfriction", "stiffness", "range", "actuatorfrcrange",
"margin", "ref", "springref", "armature", "damping", "frictionloss", "user"},
{"geom", "?", "31", "type", "pos", "quat", "contype", "conaffinity", "condim",
"group", "priority", "size", "material", "friction", "mass", "density",
@@ -239,9 +239,9 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
{"inertial", "?", "9", "pos", "quat", "mass", "diaginertia",
"axisangle", "xyaxes", "zaxis", "euler", "fullinertia"},
{"joint", "*", "23", "name", "class", "type", "group", "pos", "axis",
"springdamper", "limited", "actuatorforcelimited",
"springdamper", "limited", "actuatorfrclimited",
"solreflimit", "solimplimit", "solreffriction", "solimpfriction",
"stiffness", "range", "actuatorforcerange", "margin", "ref", "springref",
"stiffness", "range", "actuatorfrcrange", "margin", "ref", "springref",
"armature", "damping", "frictionloss", "user"},
{"freejoint", "*", "2", "name", "group"},
{"geom", "*", "33", "name", "class", "type", "contype", "conaffinity", "condim",
@@ -1318,7 +1318,7 @@ void mjXReader::OneJoint(XMLElement* elem, mjCJoint* pjoint) {
pjoint->type = (mjtJoint)n;
}
MapValue(elem, "limited", &pjoint->limited, TFAuto_map, 3);
MapValue(elem, "actuatorforcelimited", &pjoint->actfrclimited, TFAuto_map, 3);
MapValue(elem, "actuatorfrclimited", &pjoint->actfrclimited, TFAuto_map, 3);
ReadAttrInt(elem, "group", &pjoint->group);
ReadAttr(elem, "solreflimit", mjNREF, pjoint->solref_limit, text, false, false);
ReadAttr(elem, "solimplimit", mjNIMP, pjoint->solimp_limit, text, false, false);
@@ -1329,7 +1329,7 @@ void mjXReader::OneJoint(XMLElement* elem, mjCJoint* pjoint) {
ReadAttr(elem, "springdamper", 2, pjoint->springdamper, text);
ReadAttr(elem, "stiffness", 1, &pjoint->stiffness, text);
ReadAttr(elem, "range", 2, pjoint->range, text);
ReadAttr(elem, "actuatorforcerange", 2, pjoint->actfrcrange, text);
ReadAttr(elem, "actuatorfrcrange", 2, pjoint->actfrcrange, text);
ReadAttr(elem, "margin", 1, &pjoint->margin, text);
ReadAttr(elem, "ref", 1, &pjoint->ref, text);
ReadAttr(elem, "springref", 1, &pjoint->springref, text);
src/xml/xml_native_writer.cc
+2 -2
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@@ -228,7 +228,7 @@ void mjXWriter::OneJoint(XMLElement* elem, mjCJoint* pjoint, mjCDef* def) {
bool afrange_defined = pjoint->actfrcrange[0]!=0 || pjoint->actfrcrange[1]!=0;
bool aflimited_inferred = def->joint.actfrclimited==2 && pjoint->actfrclimited==afrange_defined;
if (writingdefaults || !aflimited_inferred) {
WriteAttrKey(elem, "actutorforcelimited", TFAuto_map, 3,
WriteAttrKey(elem, "actuatorfrclimited", TFAuto_map, 3,
pjoint->actfrclimited, def->joint.actfrclimited);
}
@@ -245,7 +245,7 @@ void mjXWriter::OneJoint(XMLElement* elem, mjCJoint* pjoint, mjCDef* def) {
WriteAttr(elem, "solimpfriction", mjNIMP, pjoint->solimp_friction, def->joint.solimp_friction);
WriteAttr(elem, "stiffness", 1, &pjoint->stiffness, &def->joint.stiffness);
WriteAttr(elem, "range", 2, pjoint->range, def->joint.range);
WriteAttr(elem, "actuatorforcerange", 2, pjoint->actfrcrange, def->joint.actfrcrange);
WriteAttr(elem, "actuatorfrcrange", 2, pjoint->actfrcrange, def->joint.actfrcrange);
WriteAttr(elem, "margin", 1, &pjoint->margin, &def->joint.margin);
WriteAttr(elem, "armature", 1, &pjoint->armature, &def->joint.armature);
WriteAttr(elem, "damping", 1, &pjoint->damping, &def->joint.damping);
test/engine/testdata/actuation/joint_force_clamp.xml
Vendored
+1 -1
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@@ -7,7 +7,7 @@
<geom type="plane" size="1 1 .01"/>
<light pos="0 0 2"/>
<body pos="0 0 .3">
<joint name="hinge" damping=".01" actuatorforcerange="-.4 .4"/>
<joint name="hinge" damping=".01" actuatorfrcrange="-.4 .4"/>
<geom type="capsule" size=".01" fromto="0 0 0 .2 0 0"/>
<geom size=".03" pos=".2 0 0"/>
</body>
test/engine/testdata/actuation/refsite.xml
Vendored
+1 -1
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@@ -29,7 +29,7 @@
commands is achievable by individual joint actuators with the specified torque limits.
See https://mujoco.readthedocs.io/en/latest//modeling.html#actuator-force-clamping
-->
<joint stiffness="1e-1" actuatorforcerange="-1 1"/>
<joint stiffness="1e-1" actuatorfrcrange="-1 1"/>
<site type="box" size=".012 .012 .012" rgba=".7 .7 .8 1"/>
</default>