Allow plugin actuators to have activation state.
Accept new attributes on the plugin/actuator tag: - dyntype - dynprm - actlimited - actrange - actearly This addresses some of the requests in #1098. PiperOrigin-RevId: 584866281 Change-Id: I4f7559e446888216093efba4ced9119cfc0528a4
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Nimrod Gileadi
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Copybara-Service
Copybara-Service
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@@ -4942,21 +4942,21 @@ specify them independently.
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.. _actuator-general-ctrlrange:
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:at:`ctrlrange`: :at-val:`real(2), "0 0"`
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Range for clamping the control input. The compiler expects the first value to be smaller than the second value.
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Range for clamping the control input. The first value must be smaller than the second value.
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|br| Setting this attribute without specifying :at:`ctrllimited` is an error, unless :at:`autolimits` is set in
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:ref:`compiler <compiler>`.
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.. _actuator-general-forcerange:
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:at:`forcerange`: :at-val:`real(2), "0 0"`
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Range for clamping the force output. The compiler expects the first value to be no greater than the second value.
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Range for clamping the force output. The first value must be no greater than the second value.
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|br| Setting this attribute without specifying :at:`forcelimited` is an error, unless :at:`autolimits` is set in
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:ref:`compiler <compiler>`.
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.. _actuator-general-actrange:
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:at:`actrange`: :at-val:`real(2), "0 0"`
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Range for clamping the activation state. The compiler expects the first value to be no greater than the second value.
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Range for clamping the activation state. The first value must be no greater than the second value.
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See the :ref:`Activation clamping <CActRange>` section for more details.
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|br| Setting this attribute without specifying :at:`actlimited` is an error, unless :at:`autolimits` is set in
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:ref:`compiler <compiler>`.
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@@ -5784,12 +5784,29 @@ Associate this actuator with an :ref:`engine plugin<exPlugin>`. Either :at:`plug
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:at:`instance`: :at-val:`string, optional`
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Instance name, used for explicit plugin instantiation.
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.. _actuator-plugin-dyntype:
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:at:`dyntype`: :at-val:`[none, integrator, filter, filterexact, muscle, user], "none"`
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Activation dynamics type for the actuator. The available dynamics types were already described in the
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:ref:`Actuation model <geActuation>` section. See also :ref:`actuator-general-dyntype`. If dyntype is
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not none, an activation variable will be added to the actuator. This variable will be added after
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any activation state computed by the plugin (see :ref:`actuator plugin activations<exActuatorAct>`).
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.. _actuator-plugin-actrange:
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:at:`actrange`: :at-val:`real(2), "0 0"`
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Range for clamping the activation state associated with this actuator's dyntype. The limit doesn't apply to
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activations computed by the plugin. The first value must be no greater than the second value.
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See the :ref:`Activation clamping <CActRange>` section for more details.
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.. _actuator-plugin-name:
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.. _actuator-plugin-class:
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.. _actuator-plugin-group:
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.. _actuator-plugin-actlimited:
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.. _actuator-plugin-ctrllimited:
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.. _actuator-plugin-forcelimited:
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@@ -5818,9 +5835,14 @@ Associate this actuator with an :ref:`engine plugin<exPlugin>`. Either :at:`plug
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.. _actuator-plugin-user:
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.. |actuator/plugin attrib list| replace:: :at:`name`, :at:`class`, :at:`group`, :at:`ctrllimited`,
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.. _actuator-plugin-dynprm:
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.. _actuator-plugin-actearly:
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.. |actuator/plugin attrib list| replace:: :at:`name`, :at:`class`, :at:`group`, :at:`actlimited`, :at:`ctrllimited`,
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:at:`forcelimited`, :at:`ctrlrange`, :at:`forcerange`, :at:`lengthrange`, :at:`gear`, :at:`cranklength`,
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:at:`joint`, :at:`jointinparent`, :at:`site`, :at:`tendon`, :at:`cranksite`, :at:`slidersite`, :at:`user`
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:at:`joint`, :at:`jointinparent`, :at:`site`, :at:`tendon`, :at:`cranksite`, :at:`slidersite`, :at:`user`,
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:at:`dynprm`, :at:`actearly`
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|actuator/plugin attrib list|
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Same as in actuator/ :ref:`general <actuator-general>`.
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+6
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@@ -879,13 +879,15 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`name<actuator-plugin-name>` | :ref:`class<actuator-plugin-class>` | :ref:`plugin<actuator-plugin-plugin>` | :ref:`instance<actuator-plugin-instance>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`group<actuator-plugin-group>` | :ref:`ctrllimited<actuator-plugin-ctrllimited>` | :ref:`forcelimited<actuator-plugin-forcelimited>` | :ref:`ctrlrange<actuator-plugin-ctrlrange>` | |
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| | | | :ref:`group<actuator-plugin-group>` | :ref:`ctrllimited<actuator-plugin-ctrllimited>` | :ref:`forcelimited<actuator-plugin-forcelimited>` | :ref:`actlimited<actuator-plugin-actlimited>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`forcerange<actuator-plugin-forcerange>` | :ref:`lengthrange<actuator-plugin-lengthrange>` | :ref:`gear<actuator-plugin-gear>` | :ref:`cranklength<actuator-plugin-cranklength>` | |
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| | | | :ref:`ctrlrange<actuator-plugin-ctrlrange>` | :ref:`forcerange<actuator-plugin-forcerange>` | :ref:`actrange<actuator-plugin-actrange>` | :ref:`lengthrange<actuator-plugin-lengthrange>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`joint<actuator-plugin-joint>` | :ref:`jointinparent<actuator-plugin-jointinparent>` | :ref:`site<actuator-plugin-site>` | :ref:`tendon<actuator-plugin-tendon>` | |
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| | | | :ref:`gear<actuator-plugin-gear>` | :ref:`cranklength<actuator-plugin-cranklength>` | :ref:`joint<actuator-plugin-joint>` | :ref:`jointinparent<actuator-plugin-jointinparent>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`cranksite<actuator-plugin-cranksite>` | :ref:`slidersite<actuator-plugin-slidersite>` | :ref:`user<actuator-plugin-user>` | | |
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| | | | :ref:`site<actuator-plugin-site>` | :ref:`dyntype<actuator-plugin-dyntype>` | :ref:`dynprm<actuator-plugin-dynprm>` | :ref:`tendon<actuator-plugin-tendon>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`cranksite<actuator-plugin-cranksite>` | :ref:`slidersite<actuator-plugin-slidersite>` | :ref:`user<actuator-plugin-user>` | :ref:`actearly<actuator-plugin-actearly>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_2| plugin |br| |_2| |L| | | .. table:: |
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@@ -12,6 +12,13 @@ General
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for the optimization. This allows to decrease the number of initial points needed for finding the contacts and is more
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robust for very small or large geom sizes.
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Plugins
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^^^^^^^
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- Allow actuator plugins to use activation variables in ``mjData.act`` as their internal state, rather than
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``mjData.plugin_state``. Actuator plugins can now specify :ref:`callbacks<mjpPlugin>` that compute activation
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variables, and they can be used with built-in :ref:`dyntype<actuator-plugin-dyntype>` actuator dynamics.
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Bug fixes
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^^^^^^^^^
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- Fix bug in Cartesian actuation with movable refsite, as when using body-centric Cartesian actuators on a quadruped.
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@@ -1422,6 +1422,15 @@ struct mjpPlugin_ {
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// called by mjv_updateScene (optional)
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void (*visualize)(const mjModel*m, mjData* d, const mjvOption* opt, mjvScene* scn, int instance);
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// methods specific to actuators (optional)
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// dimension of the actuator state for the plugin (excluding state from actuator's dyntype)
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int (*actuator_actdim)(const mjModel*m, int instance, int actuator_id);
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// updates the actuator plugin's entries in act_dot
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// called after native act_dot is computed and before the compute callback
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void (*actuator_act_dot)(const mjModel* m, mjData* d, int instance);
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// methods specific to signed distance fields (optional)
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// signed distance from the surface
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@@ -199,6 +199,25 @@ When :ref:`mjData` is being copied via :ref:`mj_copyData`, MuJoCo will copy over
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code is responsible for setting up the plugin data for the newly copied :ref:`mjData`. To facilitate this, MuJoCo calls
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the ``copy`` callback from :ref:`mjpPlugin` for each plugin instance present.
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.. _exActuatorAct:
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Actuator activations
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""""""""""""""""""""
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When writing stateful actuator plugins, there are two choices for where to save the actuator state. One option is using
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``plugin_state`` as described above, and the other is to use ``mjData.act`` by implementing the ``actuator_actdim`` and
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``actuator_act_dot`` callbacks on :ref:`mjpPlugin`.
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When using the latter option, the actuator plugin's state will be added to ``mjData.act``, and MuJoCo will
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automatically integrate ``mjData.act_dot`` values between timesteps. One advantage of this approach is that
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finite-differencing functions like :ref:`mjd_transitionFD` will work as they do for native actuators. The
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``mjpPlugin.advance`` callback will be called after ``act_dot`` is integrated, and actuator plugins may overwrite
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the ``act`` values at that point, if Euler integration isn't appropriate.
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Users may specify the :ref:`dyntype<actuator-plugin-dyntype>` attribute on actuator plugins, to introduce a filter or
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an integrator between user inputs and actuator activations. When they do, the activation variable introduced by
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``dyntype`` will be placed *after* the plugin's activation variables in the ``act`` array.
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.. _exRegistration:
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Registration
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