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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/XMLschema.rst
+4 -4
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@@ -1105,13 +1105,13 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`jointinparent<actuator-muscle-jointinparent>` | :ref:`tendon<actuator-muscle-tendon>` | :ref:`slidersite<actuator-muscle-slidersite>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`cranksite<actuator-muscle-cranksite>` | :ref:`timeconst<actuator-muscle-timeconst>` | :ref:`range<actuator-muscle-range>` | |
| | | | :ref:`cranksite<actuator-muscle-cranksite>` | :ref:`timeconst<actuator-muscle-timeconst>` | :ref:`tausmooth<actuator-muscle-tausmooth>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`force<actuator-muscle-force>` | :ref:`scale<actuator-muscle-scale>` | :ref:`lmin<actuator-muscle-lmin>` | |
| | | | :ref:`range<actuator-muscle-range>` | :ref:`force<actuator-muscle-force>` | :ref:`scale<actuator-muscle-scale>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`lmax<actuator-muscle-lmax>` | :ref:`vmax<actuator-muscle-vmax>` | :ref:`fpmax<actuator-muscle-fpmax>` | |
| | | | :ref:`lmin<actuator-muscle-lmin>` | :ref:`lmax<actuator-muscle-lmax>` | :ref:`vmax<actuator-muscle-vmax>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`fvmax<actuator-muscle-fvmax>` | | | |
| | | | :ref:`fpmax<actuator-muscle-fpmax>` | :ref:`fvmax<actuator-muscle-fvmax>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| actuator |br| |_| |L| | | .. table:: |