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

Add inheritrange attribute to position and intvelocity actuators.

Browse Source 
PiperOrigin-RevId: 607650147
Change-Id: Ibc1846f89179786d4f93435c3924687b4c5d1432
This commit is contained in:
Yuval Tassa
2024-02-16 04:41:49 -08:00
committed by Copybara-Service
parent 5e353efaaf
commit 05150546e3
11 changed files with 318 additions and 113 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/XMLreference.rst
+25 -1
View File
@@ -5430,6 +5430,20 @@ This element has one custom attribute in addition to the common attributes:
Damping applied by the actuator.
When using this attribute, it is recommended to use the implicitfast or implicit :ref:`integrators<geIntegration>`.
.. _actuator-position-inheritrange:
:at:`inheritrange`: :at-val:`real, "0"`
Automatically set the actuator's :at:`ctrlrange` to match the transmission target's :at:`range`. The default value
means "disabled". A positive value :at-val:`X` sets the :at:`ctrlrange` around the midpoint of the target range,
scaled by :at-val:`X`. For example if the target joint has :at:`range` of :at-val:`[0, 1]`, then a value of
:at-val:`1.0` will set :at:`ctrlrange` to :at-val:`[0, 1]`; values of :at-val:`0.8` and :at-val:`1.2` will set the
:at:`ctrlrange` to :at-val:`[0.1, 0.9]` and :at-val:`[-0.1, 1.1]`, respectively. Values smaller than 1 are useful for
not hitting the limits; values larger than 1 are useful for maintaining control authority at the limits (being able
to push on them). This attribute is exclusive with :at:`ctrlrange` and available only for joint and tendon
transmissions which have :at:`range` defined. Note that while :at:`inheritrange` is available both as a
:ref:`position<actuator-position>` attribute and in the :ref:`default class<default-position-inheritrange>`,
saved XMLs always convert it to explicit :at:`ctrlrange` at the actuator.
.. _actuator-velocity:
:el-prefix:`actuator/` |-| **velocity** (*)
@@ -5578,10 +5592,16 @@ This element has one custom attribute in addition to the common attributes:
Damping applied by the actuator.
When using this attribute, it is recommended to use the implicitfast or implicit :ref:`integrators<geIntegration>`.
.. _actuator-intvelocity-inheritrange:
:at:`inheritrange`: :at-val:`real, "0"`
Identical to :ref:`position/inheritrange<actuator-position-inheritrange>`, but sets :at:`actrange` (which has the same
length semantics as the transmission target) rather than :at:`ctrlrange` (which has velocity semantics).
.. _actuator-damper:
:el-prefix:`actuator/` |-| **damper** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element is an active damper which produces a force proportional to both velocity and control: ``F = - kv * velocity
* control``, where ``kv`` must be nonnegative. :at:`ctrlrange` is required and must also be nonnegative.
@@ -7728,6 +7748,8 @@ tendon, slidersite, cranksite.
.. _default-position-ctrlrange:
.. _default-position-inheritrange:
.. _default-position-forcerange:
.. _default-position-gear:
@@ -7788,6 +7810,8 @@ refsite, tendon, slidersite, cranksite.
.. _default-intvelocity-actrange:
.. _default-intvelocity-inheritrange:
.. _default-intvelocity-gear:
.. _default-intvelocity-cranklength: