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Improve documentation regarding choice of integrator. Fixes #1085

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PiperOrigin-RevId: 576546484
Change-Id: I7192a0c32e1aed8e201d1db953b657e605cd74f0
This commit is contained in:
Yuval Tassa
2023-10-25 09:03:58 -07:00
committed by Copybara-Service
parent a89412bb4a
commit 5231a335bf
4 changed files with 88 additions and 18 deletions
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doc/_static/gyroscopic.xml
Vendored
+22
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<mujoco>
<asset>
<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
</asset>
<statistic extent="1"/>
<!-- switch the integrator to "implicit" for better gyroscopic stabillity -->
<option timestep="0.01" integrator="implicitfast"/>
<worldbody>
<geom pos="0 0 -.5" type="plane" size="100 100 .1" zaxis=".5 0 1" material="grid"/>
<body pos="0 0 .3">
<freejoint/>
<geom type="ellipsoid" size="0.15 0.1 0.07" euler="20 40 60"/>
<light pos="0 0 1.5" mode="track"/>
<camera pos="0 -1.498 0.1" xyaxes="1 0 0 0 0 1" mode="track"/>
</body>
</worldbody>
</mujoco>
doc/_static/pendulum.xml
Vendored
+27
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<mujoco model="energy conserving pendulum">
<option integrator="RK4">
<flag constraint="disable" energy="enable"/>
</option>
<worldbody>
<light pos="0 0 2"/>
<geom pos="0 0 -.5" type="plane" size="1 1 .01"/>
<body pos="0 0 0">
<joint type="hinge" axis="0 1 0"/>
<geom type="cylinder" size="0.02" fromto="0 -.02 0 0 .02 0"/>
<geom type="capsule" size="0.02" fromto="0 0 0 .1 0 0"/>
<body pos="0.1 0 0">
<joint type="slide" axis="1 0 0" stiffness="200"/>
<geom type="capsule" size="0.015" fromto="-.1 0 0 .1 0 0"/>
<body pos=".1 0 0">
<joint type="ball"/>
<geom type="box" size=".02" fromto="0 0 0 0 .1 0"/>
<body pos="0 .1 0">
<joint axis="1 0 0"/>
<geom type="capsule" size="0.02" fromto="0 0 0 0 .1 0"/>
</body>
</body>
</body>
</body>
</worldbody>
</mujoco>