Skip disabled actuators in mjd_actuator_vel.
Fixes a bug where the derivative of the actuator force with respect to the generalized velocities (used in implicit and implicitfast integrators) was failing to take into account disabled actuators. Fixes #1838 PiperOrigin-RevId: 657193960 Change-Id: Id8c0ab863a39e2a01cd2703774f460e9731b4807
This commit is contained in:
Yuval Tassa
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Copybara-Service
Copybara-Service
parent
3f0749a0f7
commit
a4bd2bec0a
@@ -1751,7 +1751,7 @@ properties are grouped together.
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.. _material-rgb:
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:el-prefix:`material/` |-| **rgb** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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This element references a texture asset used to specify base color / albedo values.
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@@ -1763,7 +1763,7 @@ This element references a texture asset used to specify base color / albedo valu
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.. _material-normal:
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:el-prefix:`material/` |-| **normal** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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This element references a texture asset used to specify the bump map (surface normals).
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@@ -1775,7 +1775,7 @@ This element references a texture asset used to specify the bump map (surface no
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.. _material-occlusion:
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:el-prefix:`material/` |-| **occlusion** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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This element references a texture asset used to specify ambient occlusion.
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@@ -1787,7 +1787,7 @@ This element references a texture asset used to specify ambient occlusion.
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.. _material-roughness:
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:el-prefix:`material/` |-| **roughness** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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This element references a texture asset used to specify the roughness map.
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@@ -1799,7 +1799,7 @@ This element references a texture asset used to specify the roughness map.
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.. _material-metallic:
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:el-prefix:`material/` |-| **metallic** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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This element references a texture asset used to specify the metallic map.
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@@ -1811,7 +1811,7 @@ This element references a texture asset used to specify the metallic map.
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.. _material-opacity:
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:el-prefix:`material/` |-| **opacity** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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This element references a texture asset used to specify the opacity map (alpha channel, transparency).
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@@ -1823,7 +1823,7 @@ This element references a texture asset used to specify the opacity map (alpha c
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.. _material-emissive:
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:el-prefix:`material/` |-| **emissive** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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This element references a texture asset used to specify light emission.
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@@ -1835,7 +1835,7 @@ This element references a texture asset used to specify light emission.
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.. _material-orm:
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:el-prefix:`material/` |-| **orm** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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This element references a texture asset used to specify a packed ORM map, where occlusion, roughness, and metallic
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are joined into the corresponding RGB values of a single texture.
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@@ -1848,7 +1848,7 @@ are joined into the corresponding RGB values of a single texture.
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.. _material-rgba:
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:el-prefix:`material/` |-| **rgba** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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This element references a texture asset used to specify a packed map where albedo and opacity are joined into the same
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4-channel texture.
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+6
-4
@@ -7,16 +7,14 @@ Upcoming version (not yet released)
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General
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^^^^^^^
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1. Renamed ``mjModel.tex_rbg`` to ``mjModel.tex_data``.
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2. Added a new disable flag ``mjDSBL_AUTORESETNAN`` to disable automatic reset when NaNs or infinities are produced.
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3. Added sub-elements to the MJCF :ref:`material<asset-material>` element, to allow specification of multiple textures
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for rendering (e.g., :ref:`occlusion-roughness-metallic<material-orm>`). Note that the MuJoCo renderer doesn't support
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these new features, and they are made available for use with external renderers.
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for rendering (e.g., :ref:`occlusion-roughness-metallic<material-orm>`). Note that the MuJoCo renderer doesn't
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support these new features, and they are made available for use with external renderers.
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MJX
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^^^
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4. Added more fields to ``mjx.Model`` and ``mjx.Data`` for further compatibility with the corresponding MuJoCo structs.
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5. Added support for :ref:`fixed tendons <tendon-fixed>`.
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6. Added support for tendon length limits (``mjCNSTR_LIMIT_TENDON`` in :ref:`mjtConstraint`).
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@@ -28,6 +26,10 @@ Python bindings
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9. Added support for asset dictionary argument in ``mujoco.spec.from_file``, ``mujoco.spec.from_string`` and
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``mujoco.spec.compile``.
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Bug fixes
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^^^^^^^^^
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10. Fixed a bug where implicit integrators did not take into account disabled actuators (:github:issue:`1838`).
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Version 3.2.0 (Jul 15, 2024)
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----------------------------
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@@ -834,6 +834,11 @@ void mjd_actuator_vel(const mjModel* m, mjData* d) {
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// process actuators
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for (int i=0; i < m->nu; i++) {
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// skip if disabled
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if (mj_actuatorDisabled(m, i)) {
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continue;
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}
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mjtNum bias_vel = 0, gain_vel = 0;
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// affine bias
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@@ -159,6 +159,70 @@ TEST_F(DerivativeTest, SmoothDvel) {
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}
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}
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// disabled actuators do not contribute to d_qfrc_actuator/d_qvel
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TEST_F(DerivativeTest, DisabledActuators) {
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// model with only a position actuator
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static constexpr char xml1[] = R"(
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<mujoco>
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<option integrator="implicitfast"/>
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<worldbody>
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<body>
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<joint name="joint" type="slide"/>
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<geom size=".1"/>
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</body>
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</worldbody>
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<actuator>
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<position joint="joint" group="1" kp="2000" kv="200"/>
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</actuator>
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</mujoco>
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)";
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mjModel* m1 = LoadModelFromString(xml1);
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mjData* d1 = mj_makeData(m1);
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d1->ctrl[0] = 6;
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while (d1->time < 1)
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mj_step(m1, d1);
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// model with a position actuator and an intvelocity actuator
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static constexpr char xml2[] = R"(
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<mujoco>
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<option integrator="implicitfast" actuatorgroupdisable="2"/>
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<worldbody>
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<body>
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<joint name="joint" type="slide"/>
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<geom size=".1"/>
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</body>
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</worldbody>
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<actuator>
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<position joint="joint" group="1" kp="2000" kv="200"/>
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<intvelocity joint="joint" group="2" kp="2000" kv="200" actrange="-6 6"/>
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</actuator>
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</mujoco>
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)";
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mjModel* m2 = LoadModelFromString(xml2);
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mjData* d2 = mj_makeData(m2);
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d2->ctrl[0] = 6;
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d2->ctrl[1] = 6;
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while (d2->time < 1)
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mj_step(m2, d2);
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// expect same qvel in both models
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EXPECT_EQ(d1->qvel[0], d2->qvel[0]);
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mj_deleteData(d2);
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mj_deleteModel(m2);
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mj_deleteData(d1);
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mj_deleteModel(m1);
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}
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// compare analytic and fin-diff d_qfrc_passive/d_qvel
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TEST_F(DerivativeTest, PassiveDvel) {
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for (const char* local_path : {kTumblingThinObjectPath,
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