chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Allow plugin actuators to have activation state.

Browse Source 
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
This commit is contained in:
Nimrod Gileadi
2023-11-23 05:13:16 -08:00
committed by Copybara-Service
parent 20eeb75086
commit f2025c6abf
13 changed files with 229 additions and 43 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/xml/xml_native_reader.cc
+11 -3
View File
@@ -413,10 +413,10 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
"lmin", "lmax", "vmax", "fpmax", "fvmax"},
{"adhesion", "*", "9", "name", "class", "group",
"forcelimited", "ctrlrange", "forcerange", "user", "body", "gain"},
{"plugin", "*", "19", "name", "class", "plugin", "instance", "group",
"ctrllimited", "forcelimited", "ctrlrange", "forcerange",
{"plugin", "*", "24", "name", "class", "plugin", "instance", "group",
"ctrllimited", "forcelimited", "actlimited", "ctrlrange", "forcerange", "actrange",
"lengthrange", "gear", "cranklength", "joint", "jointinparent",
"site", "tendon", "cranksite", "slidersite", "user"},
"site", "dyntype", "dynprm", "tendon", "cranksite", "slidersite", "user", "actearly"},
{"<"},
{"config", "*", "2", "key", "value"},
{">"},
@@ -2043,6 +2043,14 @@ void mjXReader::OneActuator(XMLElement* elem, mjCActuator* pact) {
else if (type == "plugin") {
OnePlugin(elem, pact);
int n;
if (MapValue(elem, "dyntype", &n, dyn_map, dyn_sz)) {
pact->dyntype = (mjtDyn)n;
}
if (MapValue(elem, "actearly", &n, bool_map, 2)) {
pact->actearly = (n==1);
}
ReadAttr(elem, "dynprm", mjNDYN, pact->dynprm, text, false, false);
}
else { // SHOULD NOT OCCUR
src/xml/xml_native_writer.cc
+2 -2
View File
@@ -721,6 +721,8 @@ void mjXWriter::OneActuator(XMLElement* elem, mjCActuator* pact, mjCDef* def) {
WriteAttr(elem, "cranklength", 1, &pact->cranklength, &def->actuator.cranklength);
WriteAttrKey(elem, "actearly", bool_map, 2, pact->actearly,
def->actuator.actearly);
WriteAttrKey(elem, "dyntype", dyn_map, dyn_sz, pact->dyntype, def->actuator.dyntype);
WriteAttr(elem, "dynprm", mjNDYN, pact->dynprm, def->actuator.dynprm);
// plugins: write config attributes
if (pact->is_plugin) {
@@ -736,10 +738,8 @@ void mjXWriter::OneActuator(XMLElement* elem, mjCActuator* pact, mjCDef* def) {
int default_actdim = pact->dyntype == mjDYN_NONE ? 0 : 1;
WriteAttrInt(elem, "actdim", pact->actdim, default_actdim);
}
WriteAttrKey(elem, "dyntype", dyn_map, dyn_sz, pact->dyntype, def->actuator.dyntype);
WriteAttrKey(elem, "gaintype", gain_map, gain_sz, pact->gaintype, def->actuator.gaintype);
WriteAttrKey(elem, "biastype", bias_map, bias_sz, pact->biastype, def->actuator.biastype);
WriteAttr(elem, "dynprm", mjNDYN, pact->dynprm, def->actuator.dynprm);
WriteAttr(elem, "gainprm", mjNGAIN, pact->gainprm, def->actuator.gainprm);
WriteAttr(elem, "biasprm", mjNBIAS, pact->biasprm, def->actuator.biasprm);
}