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

Add a disable flag for sensors.

Browse Source 
PiperOrigin-RevId: 469473066
Change-Id: I296ed790c6261c4fb15b349540edcb77e53e0567
This commit is contained in:
Yuval Tassa
2022-08-23 09:02:15 -07:00
committed by Copybara-Service
parent 83ce236479
commit 090fe2db3f
11 changed files with 101 additions and 18 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/XMLreference.rst
+6 -3
View File
@@ -94,9 +94,9 @@ in the second column of the table have the following meaning:
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`filterparent` | :at:`actuation` | :at:`refsafe` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`override` | :at:`energy` | :at:`fwdinv` | |
| | | | :at:`sensor` | :at:`override` | :at:`energy` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`sensornoise` | :at:`multiccd` | | |
| | | | :at:`fwdinv` | :at:`sensornoise` | :at:`multiccd` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:el:`size` | \* | .. table:: |
@@ -1847,6 +1847,9 @@ from its default.
simulation timestep. Recall that solref[0] is the stiffness of the virtual spring-damper used for constraint
stabilization. If this setting is enabled, the solver uses max(solref[0], 2*timestep) in place of solref[0]
separately for each active constraint.
:at:`sensor`: :at-val:`[disable, enable], "enable"`
This flag disables all computations related to sensors. When disabled, sensor values will remain constant, either
zeros if disabled at the start of simulation, or, if disabled at runtime, whatever value was last computed.
:at:`override`: :at-val:`[disable, enable], "disable"`
This flag enables to :ref:`Contact override <COverride>` mechanism explained above.
:at:`energy`: :at-val:`[disable, enable], "disable"`
@@ -4265,7 +4268,7 @@ specify them independently.
If true, the internal state (activation) associated with this actuator is automatically clamped to :at:`actrange` at
runtime. If false, activation clamping is disabled. If auto, activation clamping will automatically be set to true
if :at:`actrange` is defined without explicitly setting this attribute to "true". See the :ref:`Activation clamping <CActRange>`
section for more details.
section for more details.
:at:`ctrlrange`: :at-val:`real(2), "0 0"`
Range for clamping the control input. The compiler expects the first value to be smaller than the second value.
:at:`forcerange`: :at-val:`real(2), "0 0"`