Add dampratio attribute to position and intvelocity actuators.
PiperOrigin-RevId: 639745135 Change-Id: I94ba4c346d2750c6c454a60a568f2e6f6bce19d4
This commit is contained in:
Yuval Tassa
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Copybara-Service
Copybara-Service
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+26
-1
@@ -5045,10 +5045,26 @@ This element has one custom attribute in addition to the common attributes:
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Damping applied by the actuator.
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When using this attribute, it is recommended to use the implicitfast or implicit :ref:`integrators<geIntegration>`.
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.. _actuator-position-dampratio:
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:at:`dampratio`: :at-val:`real, "0"`
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Damping applied by the actuator, using damping ratio units.
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This attribute is exclusive with :at:`kv` and has similar meaning, but instead of units of force/velocity, the units
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are :math:`2 \sqrt{k_p \cdot m}`, corresponding to a harmonic oscillator's
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`damping ratio <https://en.wikipedia.org/wiki/Damping#Damping_ratio_definition>`__.
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A value of 1 corresponds to a *critically damped* oscillator, which often produces desirable behavior.
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Values smaller or larger than 1 correspond to underdamped and overdamped oscillations, respectively.
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The mass :math:`m` is computed at the reference configuration ``mjModel.qpos0``, taking into account joint
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:ref:`armature <body-joint-armature>`.
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However, passive :ref:`damping <body-joint-damping>` or :ref:`frictionloss <body-joint-frictionloss>` in the affected
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joints are not taken into account; if they are non-negligible, :at:`dampratio` values smaller than 1 might be
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required to achieve desirable motion.
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When using this attribute, it is recommended to use the implicitfast or implicit :ref:`integrators<geIntegration>`.
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.. _actuator-position-timeconst:
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:at:`timeconst`: :at-val:`real, "0"`
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Time-constant of the first-order filter. If larger than zero, the actuator uses the :at:`filterexact`
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Time-constant of optional first-order filter. If larger than zero, the actuator uses the :at:`filterexact`
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:ref:`dynamics type<actuator-general-dyntype>`, if zero (the default) no filter is used.
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@@ -5214,6 +5230,11 @@ This element has one custom attribute in addition to the common attributes:
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Damping applied by the actuator.
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When using this attribute, it is recommended to use the implicitfast or implicit :ref:`integrators<geIntegration>`.
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.. _actuator-intvelocity-dampratio:
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:at:`dampratio`: :at-val:`real, "0"`
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See :ref:`position/dampratio<actuator-position-dampratio>`.
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.. _actuator-intvelocity-inheritrange:
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:at:`inheritrange`: :at-val:`real, "0"`
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@@ -8097,6 +8118,8 @@ tendon, slidersite, cranksite.
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.. _default-position-kv:
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.. _default-position-dampratio:
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.. _default-position-timeconst:
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:el-prefix:`default/` |-| **position** (?)
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@@ -8159,6 +8182,8 @@ refsite, tendon, slidersite, cranksite.
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.. _default-intvelocity-kv:
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.. _default-intvelocity-dampratio:
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:el-prefix:`default/` |-| **intvelocity** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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+7
-3
@@ -705,7 +705,7 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`cranksite<actuator-position-cranksite>` | :ref:`site<actuator-position-site>` | :ref:`refsite<actuator-position-refsite>` | :ref:`kp<actuator-position-kp>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`kv<actuator-position-kv>` | :ref:`timeconst<actuator-position-timeconst>` | | | |
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| | | | :ref:`kv<actuator-position-kv>` | :ref:`dampratio<actuator-position-dampratio>` | :ref:`timeconst<actuator-position-timeconst>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| actuator |br| |_| |L| | | .. table:: |
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@@ -737,7 +737,7 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`slidersite<actuator-intvelocity-slidersite>` | :ref:`cranksite<actuator-intvelocity-cranksite>` | :ref:`site<actuator-intvelocity-site>` | :ref:`refsite<actuator-intvelocity-refsite>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`kp<actuator-intvelocity-kp>` | :ref:`kv<actuator-intvelocity-kv>` | | | |
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| | | | :ref:`kp<actuator-intvelocity-kp>` | :ref:`kv<actuator-intvelocity-kv>` | :ref:`dampratio<actuator-intvelocity-dampratio>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| actuator |br| |_| |L| | | .. table:: |
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@@ -1477,7 +1477,9 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`forcerange<default-position-forcerange>` | :ref:`gear<default-position-gear>` | :ref:`cranklength<default-position-cranklength>` | :ref:`user<default-position-user>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`group<default-position-group>` | :ref:`kp<default-position-kp>` | :ref:`kv<default-position-kv>` | :ref:`timeconst<default-position-timeconst>` | |
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| | | | :ref:`group<default-position-group>` | :ref:`kp<default-position-kp>` | :ref:`kv<default-position-kv>` | :ref:`dampratio<default-position-dampratio>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`timeconst<default-position-timeconst>` | | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| default |br| |_| |L| | | .. table:: |
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@@ -1501,6 +1503,8 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`user<default-intvelocity-user>` | :ref:`group<default-intvelocity-group>` | :ref:`kp<default-intvelocity-kp>` | :ref:`kv<default-intvelocity-kv>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`dampratio<default-intvelocity-dampratio>` | | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| default |br| |_| |L| | | .. table:: |
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| :ref:`damper | ? | :class: mjcf-attributes |
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+7
-2
@@ -11,8 +11,13 @@ General
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1. Added :ref:`mj_geomDistance` for computing the shortest signed distance between two geoms and optionally a segment
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connecting them. Relatedly, added the 3 sensors: :ref:`distance<sensor-distance>`, :ref:`normal<sensor-normal>`,
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:ref:`fromto<sensor-fromto>`. See the function and sensor documentation for details. Fixes :github:issue:`51`.
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2. Added :ref:`timeconst<actuator-position-timeconst>` attribute to the :ref:`position actuator<actuator-position>`.
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When set to a positive value, the actuator is made stateful with :at:`filterexact` dynamics.
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2. Improvements to position actuators:
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- Added :ref:`timeconst<actuator-position-timeconst>` attribute to the :ref:`position actuator<actuator-position>`.
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When set to a positive value, the actuator is made stateful with :at:`filterexact` dynamics.
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- Added :ref:`dampratio<actuator-position-dampratio>` to both :el:`position` and :el:`intvelocity` actuators. An
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alternative to the :at:`kv` attribute, it provides a convenient way to set actuator damping using natural units.
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See attribute documentation for details.
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MJX
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^^^
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