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Add sensors for potential and kinetic energy.

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PiperOrigin-RevId: 716775375
Change-Id: Ic8ab7f1a51df970ab551dabe7c797cde13cd97fd
This commit is contained in:
Yuval Tassa
2025-01-17 13:09:29 -08:00
committed by Copybara-Service
parent 688d367733
commit 240a7afdee
15 changed files with 264 additions and 33 deletions
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doc/XMLreference.rst
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@@ -601,9 +601,17 @@ from its default.
.. _option-flag-energy:
:at:`energy`: :at-val:`[disable, enable], "disable"`
This flag enables the computation of kinetic and potential energy, stored in mjData.energy and displayed in the GUI.
This feature adds some CPU time but it is usually negligible. Monitoring energy for a system that is supposed to be
energy-conserving is one of the best ways to assess the accuracy of a complex simulation.
This flag enables the computation of potential and kinetic energy in ``mjData.energy[0, 1]`` respectively,
and displayed in the simulate GUI info overlay. Potential energy includes the gravitational component summed over
all bodies :math:`\sum_b m_b g h` and energy stored in passive springs in joints, tendons and flexes
:math:`\tfrac{1}{2} k x^2`, where :math:`x` is the displacement and and :math:`k` is the spring constant. Kinetic
energy is given by :math:`\tfrac{1}{2} v^T M v`, where :math:`v` is the velocity and :math:`M` is the
mass matrix. Note that potential and kinetic energy in constraints is not accounted for.
The extra computation (also triggered by :ref:`potential<sensor-e_potential>` and
:ref:`kinetic<sensor-e_kinetic>` energy sensors) adds some CPU time but it is usually negligible. Monitoring energy
for a system that is supposed to be energy-conserving is one of the best ways to assess the accuracy of a complex
simulation.
.. _option-flag-fwdinv:
@@ -7245,6 +7253,45 @@ See :ref:`collision-sensors` for more details about sensors of this type.
:at:`name`, :at:`noise`, :at:`user`
See :ref:`CSensor`.
.. _sensor-e_potential:
:el-prefix:`sensor/` |-| **e_potential** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates sensor that returns the potential energy.
.. _sensor-e_potential-name:
.. _sensor-e_potential-noise:
.. _sensor-e_potential-cutoff:
.. _sensor-e_potential-user:
:at:`name`, :at:`noise`, :at:`cutoff`, :at:`user`
See :ref:`CSensor`.
.. _sensor-e_kinetic:
:el-prefix:`sensor/` |-| **e_kinetic** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates sensor that returns the kinetic energy.
.. _sensor-e_kinetic-name:
.. _sensor-e_kinetic-noise:
.. _sensor-e_kinetic-cutoff:
.. _sensor-e_kinetic-user:
:at:`name`, :at:`noise`, :at:`cutoff`, :at:`user`
See :ref:`CSensor`.
.. _sensor-clock:
:el-prefix:`sensor/` |-| **clock** (*)