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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/XMLschema.rst
+2 -2
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@@ -348,7 +348,7 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`gaintype<default-general-gaintype>` | :ref:`biastype<default-general-biastype>` | :ref:`dynprm<default-general-dynprm>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`gainprm<default-general-gainprm>` | :ref:`biasprm<default-general-biasprm>` | | |
| | | | :ref:`gainprm<default-general-gainprm>` | :ref:`biasprm<default-general-biasprm>` | :ref:`actearly<default-general-actearly>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
@@ -982,7 +982,7 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`biastype<actuator-general-biastype>` | :ref:`dynprm<actuator-general-dynprm>` | :ref:`gainprm<actuator-general-gainprm>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`biasprm<actuator-general-biasprm>` | | | |
| | | | :ref:`biasprm<actuator-general-biasprm>` | :ref:`actearly<actuator-general-actearly>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| actuator |br| |_| |L| | | .. table:: |