Skip to content

Allow armature and damping on actuator elements #544

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Closed
adityasingh2400 wants to merge 1 commit into from
+59 −0
Closed

Allow armature and damping on actuator elements #544

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
24 changes: 24 additions & 0 deletions dm_control/mjcf/element_test.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -800,6 +800,30 @@ def testDictLikeInterface(self):
with self.assertRaisesRegex(TypeError, 'does not support item deletion'):
del elem['foo']

@parameterized.parameters('general', 'motor', 'position', 'velocity',
'intvelocity', 'damper', 'cylinder', 'muscle')
def testActuatorArmatureAndDamping(self, actuator_type):
# MuJoCo accepts `armature` and `damping` on these actuators, and the
# <default> section of the schema already allowed both, but the <actuator>
# elements themselves did not list them.
xml_string = """
<mujoco model="test">
<worldbody>
<body>
<joint name="j" type="hinge"/>
<geom type="sphere" size="0.1"/>
</body>
</worldbody>
<actuator>
<{} name="a" joint="j" armature="0.7" damping="2.5"/>
</actuator>
</mujoco>
""".format(actuator_type)
mujoco = parser.from_xml_string(xml_string)
actuator = mujoco.find('actuator', 'a')
self.assertEqual(actuator.armature, 0.7)
np.testing.assert_array_equal(actuator.damping, [2.5])

def testSetAndGetAttributes(self):
mujoco = element.RootElement(model='test')

Expand Down
16 changes: 16 additions & 0 deletions dm_control/mjcf/schema.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2102,6 +2102,8 @@
<attribute name="actrange" type="array" array_type="float" array_size="2"/>
<attribute name="lengthrange" type="array" array_type="float" array_size="2"/>
<attribute name="gear" type="array" array_type="float" array_size="6"/>
<attribute name="damping" type="array" array_type="float" array_size="3"/>
<attribute name="armature" type="float"/>
<attribute name="cranklength" type="float"/>
<attribute name="joint" type="reference"/>
<attribute name="jointinparent" type="reference" reference_namespace="joint"/>
Expand Down Expand Up @@ -2135,6 +2137,8 @@
<attribute name="forcerange" type="array" array_type="float" array_size="2"/>
<attribute name="lengthrange" type="array" array_type="float" array_size="2"/>
<attribute name="gear" type="array" array_type="float" array_size="6"/>
<attribute name="damping" type="array" array_type="float" array_size="3"/>
<attribute name="armature" type="float"/>
<attribute name="cranklength" type="float"/>
<attribute name="joint" type="reference"/>
<attribute name="jointinparent" type="reference" reference_namespace="joint"/>
Expand All @@ -2160,6 +2164,8 @@
<attribute name="forcerange" type="array" array_type="float" array_size="2"/>
<attribute name="lengthrange" type="array" array_type="float" array_size="2"/>
<attribute name="gear" type="array" array_type="float" array_size="6"/>
<attribute name="damping" type="array" array_type="float" array_size="3"/>
<attribute name="armature" type="float"/>
<attribute name="cranklength" type="float"/>
<attribute name="joint" type="reference"/>
<attribute name="jointinparent" type="reference" reference_namespace="joint"/>
Expand Down Expand Up @@ -2190,6 +2196,8 @@
<attribute name="forcerange" type="array" array_type="float" array_size="2"/>
<attribute name="lengthrange" type="array" array_type="float" array_size="2"/>
<attribute name="gear" type="array" array_type="float" array_size="6"/>
<attribute name="damping" type="array" array_type="float" array_size="3"/>
<attribute name="armature" type="float"/>
<attribute name="cranklength" type="float"/>
<attribute name="joint" type="reference"/>
<attribute name="jointinparent" type="reference" reference_namespace="joint"/>
Expand Down Expand Up @@ -2218,6 +2226,8 @@
<attribute name="actrange" type="array" array_type="float" array_size="2"/>
<attribute name="lengthrange" type="array" array_type="float" array_size="2"/>
<attribute name="gear" type="array" array_type="float" array_size="6"/>
<attribute name="damping" type="array" array_type="float" array_size="3"/>
<attribute name="armature" type="float"/>
<attribute name="cranklength" type="float"/>
<attribute name="joint" type="reference"/>
<attribute name="jointinparent" type="reference" reference_namespace="joint"/>
Expand Down Expand Up @@ -2267,6 +2277,8 @@
<attribute name="forcerange" type="array" array_type="float" array_size="2"/>
<attribute name="lengthrange" type="array" array_type="float" array_size="2"/>
<attribute name="gear" type="array" array_type="float" array_size="6"/>
<attribute name="damping" type="array" array_type="float" array_size="3"/>
<attribute name="armature" type="float"/>
<attribute name="cranklength" type="float"/>
<attribute name="joint" type="reference"/>
<attribute name="jointinparent" type="reference" reference_namespace="joint"/>
Expand All @@ -2293,6 +2305,8 @@
<attribute name="forcerange" type="array" array_type="float" array_size="2"/>
<attribute name="lengthrange" type="array" array_type="float" array_size="2"/>
<attribute name="gear" type="array" array_type="float" array_size="6"/>
<attribute name="damping" type="array" array_type="float" array_size="3"/>
<attribute name="armature" type="float"/>
<attribute name="cranklength" type="float"/>
<attribute name="joint" type="reference"/>
<attribute name="jointinparent" type="reference" reference_namespace="joint"/>
Expand Down Expand Up @@ -2322,6 +2336,8 @@
<attribute name="forcerange" type="array" array_type="float" array_size="2"/>
<attribute name="lengthrange" type="array" array_type="float" array_size="2"/>
<attribute name="gear" type="array" array_type="float" array_size="6"/>
<attribute name="damping" type="array" array_type="float" array_size="3"/>
<attribute name="armature" type="float"/>
<attribute name="cranklength" type="float"/>
<attribute name="joint" type="reference"/>
<attribute name="jointinparent" type="reference" reference_namespace="joint"/>
Expand Down
19 changes: 19 additions & 0 deletions dm_control/mjcf/xml_validation_test.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -67,6 +67,25 @@ def testXmlFromZip(self):
model = parser.from_zip(_ZIPPED_MODEL)
validate(model.to_xml_string(), model.get_assets())

def testActuatorArmatureAndDampingRoundTrip(self):
model = parser.from_xml_string("""
<mujoco model="test">
<worldbody>
<body>
<joint name="j" type="hinge"/>
<geom type="sphere" size="0.1"/>
</body>
</worldbody>
<actuator>
<position name="a" joint="j" armature="0.7" damping="2.5"/>
</actuator>
</mujoco>
""")
validate(model.to_xml_string())
mjmodel = wrapper.MjModel.from_xml_string(model.to_xml_string())
self.assertEqual(mjmodel.actuator_armature[0], 0.7)
self.assertEqual(mjmodel.actuator_damping[0], 2.5)


if __name__ == '__main__':
absltest.main()