Add sensors for potential and kinetic energy.
PiperOrigin-RevId: 716775375 Change-Id: Ic8ab7f1a51df970ab551dabe7c797cde13cd97fd
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Yuval Tassa
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Copybara-Service
Copybara-Service
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@@ -601,9 +601,17 @@ from its default.
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.. _option-flag-energy:
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:at:`energy`: :at-val:`[disable, enable], "disable"`
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This flag enables the computation of kinetic and potential energy, stored in mjData.energy and displayed in the GUI.
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This feature adds some CPU time but it is usually negligible. Monitoring energy for a system that is supposed to be
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energy-conserving is one of the best ways to assess the accuracy of a complex simulation.
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This flag enables the computation of potential and kinetic energy in ``mjData.energy[0, 1]`` respectively,
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and displayed in the simulate GUI info overlay. Potential energy includes the gravitational component summed over
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all bodies :math:`\sum_b m_b g h` and energy stored in passive springs in joints, tendons and flexes
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:math:`\tfrac{1}{2} k x^2`, where :math:`x` is the displacement and and :math:`k` is the spring constant. Kinetic
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energy is given by :math:`\tfrac{1}{2} v^T M v`, where :math:`v` is the velocity and :math:`M` is the
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mass matrix. Note that potential and kinetic energy in constraints is not accounted for.
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The extra computation (also triggered by :ref:`potential<sensor-e_potential>` and
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:ref:`kinetic<sensor-e_kinetic>` energy sensors) adds some CPU time but it is usually negligible. Monitoring energy
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for a system that is supposed to be energy-conserving is one of the best ways to assess the accuracy of a complex
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simulation.
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.. _option-flag-fwdinv:
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@@ -7245,6 +7253,45 @@ See :ref:`collision-sensors` for more details about sensors of this type.
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:at:`name`, :at:`noise`, :at:`user`
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See :ref:`CSensor`.
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.. _sensor-e_potential:
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:el-prefix:`sensor/` |-| **e_potential** (*)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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This element creates sensor that returns the potential energy.
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.. _sensor-e_potential-name:
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.. _sensor-e_potential-noise:
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.. _sensor-e_potential-cutoff:
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.. _sensor-e_potential-user:
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:at:`name`, :at:`noise`, :at:`cutoff`, :at:`user`
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See :ref:`CSensor`.
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.. _sensor-e_kinetic:
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:el-prefix:`sensor/` |-| **e_kinetic** (*)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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This element creates sensor that returns the kinetic energy.
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.. _sensor-e_kinetic-name:
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.. _sensor-e_kinetic-noise:
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.. _sensor-e_kinetic-cutoff:
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.. _sensor-e_kinetic-user:
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:at:`name`, :at:`noise`, :at:`cutoff`, :at:`user`
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See :ref:`CSensor`.
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.. _sensor-clock:
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:el-prefix:`sensor/` |-| **clock** (*)
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@@ -1231,6 +1231,20 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| sensor |br| |_| |L| | | .. table:: |
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| :ref:`e_potential | \* | :class: mjcf-attributes |
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| <sensor-e_potential>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`name<sensor-e_potential-name>` | :ref:`cutoff<sensor-e_potential-cutoff>` | :ref:`noise<sensor-e_potential-noise>` | :ref:`user<sensor-e_potential-user>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| sensor |br| |_| |L| | | .. table:: |
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| :ref:`e_kinetic | \* | :class: mjcf-attributes |
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| <sensor-e_kinetic>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`name<sensor-e_kinetic-name>` | :ref:`cutoff<sensor-e_kinetic-cutoff>` | :ref:`noise<sensor-e_kinetic-noise>` | :ref:`user<sensor-e_kinetic-user>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| sensor |br| |_| |L| | | .. table:: |
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| :ref:`clock | \* | :class: mjcf-attributes |
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| <sensor-clock>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+7
-4
@@ -5,10 +5,13 @@ Changelog
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Upcoming version (not yet released)
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-----------------------------------
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- Added ``mjs_setDeepCopy`` API function. When the deep copy flag is 0, attaching a model will not copy it to the
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parent, so the original references to the child allow to modify the parent as well. The default behavior is to perform
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such a shallow copy. The old behavioud of creating a deep copy of the child model while attaching can be restored by
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setting the deep copy flag to 1.
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General
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^^^^^^^
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- Added :ref:`mjs_setDeepCopy` API function. When the deep copy flag is 0, attaching a model will not copy it to the
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parent, so the original references to the child can be used to modify the parent after attachment. The default
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behavior is to perform such a shallow copy. The old behavior of creating a deep copy of the child model while
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attaching can be restored by setting the deep copy flag to 1.
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- Added :ref:`potential<sensor-e_potential>` and :ref:`kinetic<sensor-e_kinetic>` energy sensors.
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Version 3.2.7 (Jan 14, 2025)
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----------------------------
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@@ -674,6 +674,8 @@ typedef enum mjtSensor_ { // type of sensor
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mjSENS_GEOMFROMTO, // segment between two geoms
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// global sensors
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mjSENS_E_POTENTIAL, // potential energy
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mjSENS_E_KINETIC, // kinetic energy
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mjSENS_CLOCK, // simulation time
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// plugin-controlled sensors
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