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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
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+9 -9
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@@ -13,7 +13,7 @@
<default> <default>
<default class="translation"> <default class="translation">
<position kp="100" ctrlrange="-.25 .25"/> <general gainprm="100" biasprm="0 -100 -10" biastype="affine" ctrlrange="-.25 .25"/>
</default> </default>
<default class="rotation"> <default class="rotation">
<!-- <!--
@@ -22,9 +22,9 @@
Increase this range to pi or bigger in order to see the instabillity. 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 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> </default>
<joint damping=".01" stiffness=".0001"/> <joint damping="1e-4"/>
<site type="box" size=".012 .012 .012" rgba=".7 .7 .8 1"/> <site type="box" size=".012 .012 .012" rgba=".7 .7 .8 1"/>
</default> </default>
@@ -52,11 +52,11 @@
</worldbody> </worldbody>
<actuator> <actuator>
<position name="x" site="end_effector" refsite="reference" gear="1 0 0 0 0 0" class="translation"/> <general 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"/> <general 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"/> <general 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"/> <general 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"/> <general 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="rz" site="end_effector" refsite="reference" gear="0 0 0 0 0 1" class="rotation"/>
</actuator> </actuator>
</mujoco> </mujoco>