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Added optional smoothing to muscle dynamics:

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- `muscle` actuators take a new `tausmooth` attribute (defaults to 0) which when positive, smooths the transition between activation and deactivation timescales.
- `mju_muscleDynamics` takes 3 parameters, adding width of smoothing sigmoid.

PiperOrigin-RevId: 531473354
Change-Id: I8ab6c0289ff04437e798c3ca6edda132a30fcc31
This commit is contained in:
Yuval Tassa
2023-05-12 04:58:17 -07:00
committed by Copybara-Service
parent 777cad52b4
commit 770b4b363a
13 changed files with 180 additions and 34 deletions
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doc/APIreference/functions.rst
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@@ -2944,7 +2944,7 @@ mju_muscleDynamics
.. mujoco-include:: mju_muscleDynamics
Muscle activation dynamics, prm = (tau_act, tau_deact).
Muscle activation dynamics, prm = (tau_act, tau_deact, smoothing_width).
.. _mju_encodePyramid: