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Add dampratio attribute to position and intvelocity actuators.

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PiperOrigin-RevId: 639745135
Change-Id: I94ba4c346d2750c6c454a60a568f2e6f6bce19d4
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Yuval Tassa
2024-06-03 05:26:14 -07:00
committed by Copybara-Service
parent d6712f2944
commit 2830a4071f
9 changed files with 314 additions and 26 deletions
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doc/XMLreference.rst
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@@ -5045,10 +5045,26 @@ This element has one custom attribute in addition to the common attributes:
Damping applied by the actuator.
When using this attribute, it is recommended to use the implicitfast or implicit :ref:`integrators<geIntegration>`.
.. _actuator-position-dampratio:
:at:`dampratio`: :at-val:`real, "0"`
Damping applied by the actuator, using damping ratio units.
This attribute is exclusive with :at:`kv` and has similar meaning, but instead of units of force/velocity, the units
are :math:`2 \sqrt{k_p \cdot m}`, corresponding to a harmonic oscillator's
`damping ratio <https://en.wikipedia.org/wiki/Damping#Damping_ratio_definition>`__.
A value of 1 corresponds to a *critically damped* oscillator, which often produces desirable behavior.
Values smaller or larger than 1 correspond to underdamped and overdamped oscillations, respectively.
The mass :math:`m` is computed at the reference configuration ``mjModel.qpos0``, taking into account joint
:ref:`armature <body-joint-armature>`.
However, passive :ref:`damping <body-joint-damping>` or :ref:`frictionloss <body-joint-frictionloss>` in the affected
joints are not taken into account; if they are non-negligible, :at:`dampratio` values smaller than 1 might be
required to achieve desirable motion.
When using this attribute, it is recommended to use the implicitfast or implicit :ref:`integrators<geIntegration>`.
.. _actuator-position-timeconst:
:at:`timeconst`: :at-val:`real, "0"`
Time-constant of the first-order filter. If larger than zero, the actuator uses the :at:`filterexact`
Time-constant of optional first-order filter. If larger than zero, the actuator uses the :at:`filterexact`
:ref:`dynamics type<actuator-general-dyntype>`, if zero (the default) no filter is used.
@@ -5214,6 +5230,11 @@ This element has one custom attribute in addition to the common attributes:
Damping applied by the actuator.
When using this attribute, it is recommended to use the implicitfast or implicit :ref:`integrators<geIntegration>`.
.. _actuator-intvelocity-dampratio:
:at:`dampratio`: :at-val:`real, "0"`
See :ref:`position/dampratio<actuator-position-dampratio>`.
.. _actuator-intvelocity-inheritrange:
:at:`inheritrange`: :at-val:`real, "0"`
@@ -8097,6 +8118,8 @@ tendon, slidersite, cranksite.
.. _default-position-kv:
.. _default-position-dampratio:
.. _default-position-timeconst:
:el-prefix:`default/` |-| **position** (?)
@@ -8159,6 +8182,8 @@ refsite, tendon, slidersite, cranksite.
.. _default-intvelocity-kv:
.. _default-intvelocity-dampratio:
:el-prefix:`default/` |-| **intvelocity** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^