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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/changelog.rst
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Changelog
=========
Upcoming version (not yet released)
-----------------------------------
General
^^^^^^^
- Added a new :ref:`dyntype<actuator-general-dyntype>`, ``filterexact``, which updates first-order filter states with
the exact formula rather than with Euler integration.
- Added an actuator attribute, :ref:`actearly<actuator-general-actearly>`, which uses semi-implicit integration for
actuator forces: using the next step's actuator state to compute the current actuator forces at the current timestep.
Version 2.3.7 (July 20, 2023)
-----------------------------