Add timeconst attribute to position actuator.
PiperOrigin-RevId: 635018979 Change-Id: I919573f4241ecb4a4c61c3b8b6641b31aa79eca4
This commit is contained in:
Tom Erez
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Copybara-Service
Copybara-Service
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727893f0f2
+18
-8
@@ -4972,15 +4972,16 @@ This element does not have custom attributes. It only has common attributes, whi
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:el-prefix:`actuator/` |-| **position** (*)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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This element creates a position servo. The underlying :el:`general` attributes are set as follows:
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This element creates a position servo with an optional first-order filter. The underlying :el:`general` attributes are
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set as follows:
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========= ======= ========= =========
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Attribute Setting Attribute Setting
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========= ======= ========= =========
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dyntype none dynprm 1 0 0
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gaintype fixed gainprm kp 0 0
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biastype affine biasprm 0 -kp -kv
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========= ======= ========= =========
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========= =================== ========= =============
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Attribute Setting Attribute Setting
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========= =================== ========= =============
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dyntype none or filterexact dynprm timeconst 0 0
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gaintype fixed gainprm kp 0 0
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biastype affine biasprm 0 -kp -kv
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========= =================== ========= =============
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This element has one custom attribute in addition to the common attributes:
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@@ -5040,6 +5041,13 @@ This element has one custom attribute in addition to the common attributes:
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Damping applied by the actuator.
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When using this attribute, it is recommended to use the implicitfast or implicit :ref:`integrators<geIntegration>`.
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.. _actuator-position-timeconst:
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:at:`timeconst`: :at-val:`real, "0"`
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Time-constant of the first-order filter. If larger than zero, the actuator uses the :at:`filterexact`
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:ref:`dynamics type<actuator-general-dyntype>`, if zero (the default) no filter is used.
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.. _actuator-position-inheritrange:
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:at:`inheritrange`: :at-val:`real, "0"`
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@@ -8085,6 +8093,8 @@ tendon, slidersite, cranksite.
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.. _default-position-kv:
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.. _default-position-timeconst:
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:el-prefix:`default/` |-| **position** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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+2
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@@ -705,7 +705,7 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`cranksite<actuator-position-cranksite>` | :ref:`site<actuator-position-site>` | :ref:`refsite<actuator-position-refsite>` | :ref:`kp<actuator-position-kp>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`kv<actuator-position-kv>` | | | | |
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| | | | :ref:`kv<actuator-position-kv>` | :ref:`timeconst<actuator-position-timeconst>` | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| actuator |br| |_| |L| | | .. table:: |
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@@ -1477,7 +1477,7 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`forcerange<default-position-forcerange>` | :ref:`gear<default-position-gear>` | :ref:`cranklength<default-position-cranklength>` | :ref:`user<default-position-user>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`group<default-position-group>` | :ref:`kp<default-position-kp>` | :ref:`kv<default-position-kv>` | | |
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| | | | :ref:`group<default-position-group>` | :ref:`kp<default-position-kp>` | :ref:`kv<default-position-kv>` | :ref:`timeconst<default-position-timeconst>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| default |br| |_| |L| | | .. table:: |
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+4
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@@ -11,13 +11,15 @@ General
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1. Added :ref:`mj_geomDistance` for computing the shortest signed distance between two geoms and optionally a segment
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connecting them. Relatedly, added the 3 sensors: :ref:`distance<sensor-distance>`, :ref:`normal<sensor-normal>`,
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:ref:`fromto<sensor-fromto>`. See the function and sensor documentation for details. Fixes :github:issue:`51`.
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2. Added :ref:`timeconst<actuator-position-timeconst>` attribute to the :ref:`position actuator<actuator-position>`.
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When set to a positive value, the actuator is made stateful with :at:`filterexact` dynamics.
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Bug fixes
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^^^^^^^^^
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2. Fixed a bug the could cause collisions to be missed when :ref:`fusestatic<compiler-fusestatic>` is enabled, as is
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3. Fixed a bug the could cause collisions to be missed when :ref:`fusestatic<compiler-fusestatic>` is enabled, as is
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often the case for URDF imports. Fixes :github:issue:`1069`, :github:issue:`1577`.
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3. Fixed a bug that was causing the visualization of SDF iterations to write outside the size of the vector storing
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4. Fixed a bug that was causing the visualization of SDF iterations to write outside the size of the vector storing
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them. Fixes :github:issue:`1539`.
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Version 3.1.5 (May 7, 2024)
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