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Clarification regarding saving integration state variables.

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Fix some documentation bugs.

PiperOrigin-RevId: 487492900
Change-Id: I16ab9ae82cf203ebeaca10baaba7319d214202d0
This commit is contained in:
Yuval Tassa
2022-11-10 03:51:25 -08:00
committed by Copybara-Service
parent f2bae1ffe3
commit 0b45129ca4
3 changed files with 10 additions and 5 deletions
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doc/APIreference.rst
+2 -2
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@@ -6599,10 +6599,10 @@ mju_str2Type
Convert type name to type id (mjtObj). Convert type name to type id (mjtObj).
.. _mju_warningText: .. _mju_writeNumBytes:
mju_writeNumBytes mju_writeNumBytes
~~~~~~~~~~~~~~~ ~~~~~~~~~~~~~~~~~
.. code-block:: C .. code-block:: C
doc/changelog.rst
+1 -1
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@@ -30,7 +30,7 @@ General
- Added :at:`gravcomp` attribute to :ref:`body<body>`, implementing gravity compensation and bouyancy. - Added :at:`gravcomp` attribute to :ref:`body<body>`, implementing gravity compensation and bouyancy.
See `balloons.xml <https://github.com/deepmind/mujoco/tree/main/model/balloons/balloons.xml>`_ example model. See `balloons.xml <https://github.com/deepmind/mujoco/tree/main/model/balloons/balloons.xml>`_ example model.
- Renamed the ``cable`` plugin library to ``elasticity``. - Renamed the ``cable`` plugin library to ``elasticity``.
- Added :ref:`actdim` attribute to :ref:`general actuators<actuator-general>`. Values greater than 1 are only allowed - Added :at:`actdim` attribute to :ref:`general actuators<actuator-general>`. Values greater than 1 are only allowed
for dyntype :at-val:`user`, as native activation dynamics are all scalar. Added example test implementing 2nd-order for dyntype :at-val:`user`, as native activation dynamics are all scalar. Added example test implementing 2nd-order
activation dynamics to activation dynamics to
`engine_forward_test.cc <https://github.com/deepmind/mujoco/blob/main/test/engine/engine_forward_test.cc>`_. `engine_forward_test.cc <https://github.com/deepmind/mujoco/blob/main/test/engine/engine_forward_test.cc>`_.
doc/computation.rst
+7 -2
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@@ -575,7 +575,8 @@ Physics state
User inputs User inputs
^^^^^^^^^^^ ^^^^^^^^^^^
These input fields are set by the user and affect the physics simulation, but are untouched by the simulator. These input fields are set by the user and affect the physics simulation, but are untouched by the simulator. All input
fields except for MoCap poses default to 0.
Controls: ``ctrl`` Controls: ``ctrl``
Controls are defined by the :ref:`actuator<actuator>` section of the XML. ``mjData.ctrl`` values either produce Controls are defined by the :ref:`actuator<actuator>` section of the XML. ``mjData.ctrl`` values either produce
@@ -592,7 +593,8 @@ These input fields are set by the user and affect the physics simulation, but ar
MoCap poses: ``mocap_pos`` and ``mocap_quat`` MoCap poses: ``mocap_pos`` and ``mocap_quat``
``mjData.mocap_pos`` and ``mjData.mocap_quat`` are special optional kinematic states :ref:`described here<CMocap>`, ``mjData.mocap_pos`` and ``mjData.mocap_quat`` are special optional kinematic states :ref:`described here<CMocap>`,
which allow the user to set the positions and orientations of static bodies in real-time, for example when streaming which allow the user to set the positions and orientations of static bodies in real-time, for example when streaming
6D poses from a motion-capture device. 6D poses from a motion-capture device. The default values set by :ref:`mj_resetData` are the poses of the bodies at
the default configuration.
User data: ``userdata`` User data: ``userdata``
``mjData.userdata`` acts as a user-defined memory space untouched by the engine. For example it can be used by ``mjData.userdata`` acts as a user-defined memory space untouched by the engine. For example it can be used by
@@ -622,6 +624,9 @@ Integration state
The *integration state* is the union of all the above ``mjData`` fields and constitutes the entire set of inputs to The *integration state* is the union of all the above ``mjData`` fields and constitutes the entire set of inputs to
the *forward dynamics*. In the case of *inverse dynamics*, ``mjData.qacc`` is also treated as an input variable. All the *forward dynamics*. In the case of *inverse dynamics*, ``mjData.qacc`` is also treated as an input variable. All
other ``mjData`` fields are functions of the integration state. other ``mjData`` fields are functions of the integration state.
|br| When saving the integration state in order to reload it elsewhere, it is sensible to avoid saving unused fields
that always remain in their default values. Specifically, ``xfrc_applied`` can be quite large (``6 x nbody``) yet is
often unused.
.. _geSimulationState: .. _geSimulationState: