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Added mjData.eq_active user input variable, for enabling/disabling the state of equality constraints.

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Renamed `mjModel.eq_active` to `mjModel.eq_active0`, which now has the semantic of "initial value of `mjData.eq_active`".

Fixes #876.

PiperOrigin-RevId: 570410643
Change-Id: Id03171e751377c7cc453f143abee64239ee2e2ed
This commit is contained in:
Yuval Tassa
2023-10-03 09:29:45 -07:00
committed by Copybara-Service
parent 177aec68dc
commit ee78b8f76b
19 changed files with 180 additions and 72 deletions
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test/engine/engine_forward_test.cc
+51
View File
@@ -555,6 +555,57 @@ TEST_F(ForwardTest, gravcomp) {
mj_deleteModel(model);
}
// test disabling of equality constraints
TEST_F(ForwardTest, eq_active) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint name="vertical" type="slide" axis="0 0 1"/>
<geom size="1"/>
</body>
</worldbody>
<equality>
<joint joint1="vertical"/>
</equality>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
mjData* data = mj_makeData(model);
// simulate for 1 second
while (data->time < 1) {
mj_step(model, data);
}
// expect that the body has barely moved
EXPECT_LT(mju_abs(data->qpos[0]), 0.001);
// turn the equality off, simulate for another second
data->eq_active[0] = 0;
while (data->time < 2) {
mj_step(model, data);
}
// expect that the body has fallen about 5m
EXPECT_LT(data->qpos[0], -4.5);
EXPECT_GT(data->qpos[0], -5.5);
// turn the equality back on, simulate for another second
data->eq_active[0] = 1;
while (data->time < 3) {
mj_step(model, data);
}
// expect that the body has snapped back
EXPECT_LT(mju_abs(data->qpos[0]), 0.001);
mj_deleteData(data);
mj_deleteModel(model);
}
// user defined 2nd-order activation dynamics: frequency-controlled oscillator
// note that scalar mjcb_act_dyn callbacks are expected to return act_dot, but
// since we have a vector output we write into act_dot directly
test/engine/engine_support_test.cc
+1
View File
@@ -369,6 +369,7 @@ TEST_F(SupportTest, GetSetStateStepEqual) {
// set controls and applied joint forces to random values
for (int i=0; i < model->nu; i++) data->ctrl[i] = dist(rng);
for (int i=0; i < model->nv; i++) data->qfrc_applied[i] = dist(rng);
for (int i=0; i < model->neq; i++) data->eq_active[i] = dist(rng) > 0;
// take one step
mj_step(model, data);