Fixes DCMotor clipping for negative power and adds actuator tests #2300
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jtigue-bdai
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jsmith-bdai,
kellyguo11 and
Mayankm96
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jtigue-bdai
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6 tasks
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hmm looks like the DC motor and environment tests are both failing, along with a few others, but not sure if they are all related to this change |
It seems there is something happening with the ActuatorNetLSTM actuators in AnymalC that is producing nan values. Will continue investigating. @Mayankm96 anything about this spark ideas? |
Signed-off-by: James Tigue <[email protected]>
Signed-off-by: Kelly Guo <[email protected]>
Signed-off-by: Kelly Guo <[email protected]>
Signed-off-by: Kelly Guo <[email protected]>
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Description
This PR adds tests for actuator initialization, configuration, and computation for Implicit, IdealPD, and DC motor actuators.
This PR also updates the DCMotor model to clip based on a four quadrant DC motor model. This will fix improper clipping in the negative power regions (i.e. positive torque and negative velocity or negative torque and positive velocity).
NOTE: This PR is dependant on the pytest migration in: 2034
This PR includes changes made in 2291 and would be an alternate candidate.
Fixes #2139
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pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there