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Improve cartesian actuator example model.

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Significantly reduced joint-level damping, introduced damping in the actuators themselves. This reduces dynamics artifacts by matching the space in which damping and actuation forces are applied.

PiperOrigin-RevId: 509574523
Change-Id: Id99b69aea4562509c48ed1a24fb9ea3e008c0b69
This commit is contained in:
Yuval Tassa
2023-02-14 10:40:04 -08:00
committed by Copybara-Service
parent ace5b74f83
commit 6a85b5db45
1 changed files with 9 additions and 9 deletions
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test/engine/testdata/refsite.xml
Vendored
+9 -9
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@@ -13,7 +13,7 @@
<default>
<default class="translation">
<position kp="100" ctrlrange="-.25 .25"/>
<general gainprm="100" biasprm="0 -100 -10" biastype="affine" ctrlrange="-.25 .25"/>
</default>
<default class="rotation">
<!--
@@ -22,9 +22,9 @@
Increase this range to pi or bigger in order to see the instabillity.
See here for more details https://mujoco.readthedocs.io/en/latest/XMLreference.html#actuator
-->
<position kp=".2" ctrlrange="-1.571 1.571"/>
<general gainprm=".5" biasprm="0 -.5 -.05" biastype="affine" ctrlrange="-1.571 1.571"/>
</default>
<joint damping=".01" stiffness=".0001"/>
<joint damping="1e-4"/>
<site type="box" size=".012 .012 .012" rgba=".7 .7 .8 1"/>
</default>
@@ -52,11 +52,11 @@
</worldbody>
<actuator>
<position name="x" site="end_effector" refsite="reference" gear="1 0 0 0 0 0" class="translation"/>
<position name="y" site="end_effector" refsite="reference" gear="0 1 0 0 0 0" class="translation"/>
<position name="z" site="end_effector" refsite="reference" gear="0 0 1 0 0 0" class="translation"/>
<position name="rx" site="end_effector" refsite="reference" gear="0 0 0 1 0 0" class="rotation"/>
<position name="ry" site="end_effector" refsite="reference" gear="0 0 0 0 1 0" class="rotation"/>
<position name="rz" site="end_effector" refsite="reference" gear="0 0 0 0 0 1" class="rotation"/>
<general name="x" site="end_effector" refsite="reference" gear="1 0 0 0 0 0" class="translation"/>
<general name="y" site="end_effector" refsite="reference" gear="0 1 0 0 0 0" class="translation"/>
<general name="z" site="end_effector" refsite="reference" gear="0 0 1 0 0 0" class="translation"/>
<general name="rx" site="end_effector" refsite="reference" gear="0 0 0 1 0 0" class="rotation"/>
<general name="ry" site="end_effector" refsite="reference" gear="0 0 0 0 1 0" class="rotation"/>
<general name="rz" site="end_effector" refsite="reference" gear="0 0 0 0 0 1" class="rotation"/>
</actuator>
</mujoco>