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Add filterexact and actearly options to MuJoCo.

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When filterexact is a new dyntype which is just like the existing `filter`, but the activation state is integrated with exact integration, instead of simple Euler integration.

When actearly is specified on a general actuator, `qfrc_actuator` is computed using the next timestep's `act` value, instead of the current value.

PiperOrigin-RevId: 554438423
Change-Id: If901e4988fa6b518d6f3097f149770665a189a4b
This commit is contained in:
Nimrod Gileadi
2023-08-07 04:49:42 -07:00
committed by Copybara-Service
parent f0f535ed04
commit 2c3297b3e7
17 changed files with 441 additions and 79 deletions
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doc/XMLreference.rst
+18 -10
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@@ -1744,6 +1744,8 @@ if omitted.
.. _default-general-biasprm:
.. _default-general-actearly:
:el-prefix:`default/` |-| **general** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -5086,20 +5088,21 @@ specify them independently.
.. _actuator-general-dyntype:
:at:`dyntype`: :at-val:`[none, integrator, filter, muscle, user], "none"`
:at:`dyntype`: :at-val:`[none, integrator, filter, filterexact, muscle, user], "none"`
Activation dynamics type for the actuator. The available dynamics types were already described in the :ref:`Actuation
model <geActuation>` section. Repeating that description in somewhat different notation (corresponding to the mjModel
and mjData fields involved) we have:
========== ==================================
Keyword Description
========== ==================================
none No internal state
integrator act_dot = ctrl
filter act_dot = (ctrl - act) / dynprm[0]
muscle act_dot = mju_muscleDynamics(...)
user act_dot = mjcb_act_dyn(...)
========== ==================================
=========== ======================================
Keyword Description
=========== ======================================
none No internal state
integrator act_dot = ctrl
filter act_dot = (ctrl - act) / dynprm[0]
filterexact Like filter but with exact integration
muscle act_dot = mju_muscleDynamics(...)
user act_dot = mjcb_act_dyn(...)
=========== ======================================
.. _actuator-general-gaintype:
@@ -5156,6 +5159,11 @@ specify them independently.
so the user can enter as many parameters as needed. These defaults are not compatible with muscle actuators; see
:ref:`muscle <actuator-muscle>` below.
.. _actuator-general-actearly:
:at:`actearly`: :at-val:`[false, true], "false"`
If true, force computation will use the next value of the activation variable rather than the current one.
Setting this flag reduces the delay between the control and accelerations by one time-step.
.. _actuator-motor: