Add actuatorgravcomp joint attribute, to treat gravity compensation forces as applied by actuators, rather than passive buoyancy.

PiperOrigin-RevId: 620049593 Change-Id: I2c8a9dc152c087b408e4f904838034271a7dd910
2024-03-28 14:00:55 -07:00
parent d258d5e152
commit 47ba72ea59
16 changed files with 257 additions and 79 deletions
@@ -6,7 +6,7 @@
  (e.g. 4 consecutive ball joints is not a realistic kinematic design)
  -->
  <option viscosity="10" integrator="implicit">
-    <flag gravity="disable" contact="disable"/>
+    <flag contact="disable"/>
  </option>

  <statistic meansize=".05"/>
@@ -29,7 +29,7 @@
    commands is achievable by individual joint actuators with the specified torque limits.
    See https://mujoco.readthedocs.io/en/latest//modeling.html#actuator-force-clamping
    -->
-    <joint stiffness="1e-1" actuatorfrcrange="-1 1"/>
+    <joint armature="1e-3" damping="1e-3" stiffness="1e-2" actuatorfrcrange="-1 1" actuatorgravcomp="true"/>
    <site type="box" size=".012 .012 .012" rgba=".7 .7 .8 1"/>
  </default>

@@ -37,19 +37,19 @@
    <light pos="0 0 2"/>
    <geom type="box" size=".25 .25 .01" pos="0 0 -.01"/>
    <site name="reference" pos="0 0 .25"/>
-    <body name="arm" pos="-.25 .25 0">
+    <body name="arm" pos="-.25 .25 0" gravcomp="1">
      <joint axis="1 0 0"/>
      <joint axis="0 1 0"/>
      <geom type="box" size=".01" fromto="0 0 0 0 0 .25"/>
-      <body pos="0 0 .25">
+      <body pos="0 0 .25" gravcomp="1">
        <joint axis="0 1 0"/>
        <joint axis="0 0 1"/>
        <geom type="box" size=".01" fromto="0 0 0 .25 0 0"/>
-        <body pos=".25 0 0">
+        <body pos=".25 0 0" gravcomp="1">
          <joint axis="1 0 0"/>
          <joint axis="0 0 1"/>
          <geom type="box" size=".01" fromto="0 0 0 0 -.2 0"/>
-          <body pos="0 -.2 0">
+          <body pos="0 -.2 0" gravcomp="1">
            <joint axis="1 0 0"/>
            <joint axis="0 0 1"/>
            <joint axis="0 1 0"/>