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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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include/mujoco/mujoco.h
+2 -2
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@@ -1144,8 +1144,8 @@ MJAPI mjtNum mju_muscleGain(mjtNum len, mjtNum vel, const mjtNum lengthrange[2],
MJAPI mjtNum mju_muscleBias(mjtNum len, const mjtNum lengthrange[2],
mjtNum acc0, const mjtNum prm[9]);
// Muscle activation dynamics, prm = (tau_act, tau_deact).
MJAPI mjtNum mju_muscleDynamics(mjtNum ctrl, mjtNum act, const mjtNum prm[2]);
// Muscle activation dynamics, prm = (tau_act, tau_deact, smoothing_width).
MJAPI mjtNum mju_muscleDynamics(mjtNum ctrl, mjtNum act, const mjtNum prm[3]);
// Convert contact force to pyramid representation.
MJAPI void mju_encodePyramid(mjtNum* pyramid, const mjtNum* force, const mjtNum* mu, int dim);