Add invdiscrete flag to enable discrete-time inverse dynamics with mj_inverse.
PiperOrigin-RevId: 560161140 Change-Id: If3e30be5e9af4982571dd310172f2fc0d8d1c551
This commit is contained in:
Tom Erez
committed by
Copybara-Service
Copybara-Service
parent
4db3377467
commit
819b5cb982
@@ -2130,6 +2130,17 @@ from its default.
|
||||
mjData.solver_fwdinv[2]. The first value is the relative norm of the discrepancy in joint space, the next is in
|
||||
constraint space.
|
||||
|
||||
.. _option-flag-invdiscrete:
|
||||
|
||||
:at:`invdiscrete`: :at-val:`[disable, enable], "disable"`
|
||||
This flag enables discrete-time inverse dynamics with :ref:`mj_inverse` for all
|
||||
:ref:`integrators<option-integrator>` other than ``RK4``. Recall from the
|
||||
:ref:`numerical integration<geIntegration>` section that the one-step integrators (``Euler``, ``implicit`` and
|
||||
``implicitfast``), modify the mass matrix :math:`M \rightarrow M-hD`. This implies that finite-differenced
|
||||
accelerations :math:`(v_{t+h} - v_t)/h` will not correspond to the continuous-time acceleration ``mjData.qacc``.
|
||||
When this flag is enabled, :ref:`mj_inverse` will interpret ``qacc`` as having been computed from the difference of
|
||||
two sequential velocities, and undo the above modification.
|
||||
|
||||
.. _option-flag-sensornoise:
|
||||
|
||||
:at:`sensornoise`: :at-val:`[disable, enable], "disable"`
|
||||
|
||||
+2
-2
@@ -241,9 +241,9 @@
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`sensor<option-flag-sensor>` | :ref:`midphase<option-flag-midphase>` | :ref:`eulerdamp<option-flag-eulerdamp>` | :ref:`override<option-flag-override>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`energy<option-flag-energy>` | :ref:`fwdinv<option-flag-fwdinv>` | :ref:`sensornoise<option-flag-sensornoise>` | :ref:`multiccd<option-flag-multiccd>` | |
|
||||
| | | | :ref:`energy<option-flag-energy>` | :ref:`fwdinv<option-flag-fwdinv>` | :ref:`invdiscrete<option-flag-invdiscrete>` | :ref:`sensornoise<option-flag-sensornoise>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`island<option-flag-island>` | | | | |
|
||||
| | | | :ref:`multiccd<option-flag-multiccd>` | :ref:`island<option-flag-island>` | | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
||||
| mujoco |br| |L| | | .. table:: |
|
||||
|
||||
+4
-2
@@ -36,17 +36,19 @@ General
|
||||
:ref:`actuatorfrclimited<body-joint-actuatorfrclimited>`, respectively.
|
||||
#. Added the flag :ref:`eulerdamp<option-flag-eulerdamp>`, which disables implicit integration of joint damping in the
|
||||
Euler integrator. See the :ref:`Numerical Integration<geIntegration>` section for more details.
|
||||
#. Added the flag :ref:`invdiscrete<option-flag-invdiscrete>`, which enables discrete-time inverse dynamics for all
|
||||
:ref:`integrators<option-integrator>` other than ``RK4``. See the flag documentation for more details.
|
||||
|
||||
Python bindings
|
||||
^^^^^^^^^^^^^^^
|
||||
|
||||
7. Fixed `#870 <https://github.com/deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
|
||||
8. Fixed `#870 <https://github.com/deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
|
||||
camera name used the default camera.
|
||||
|
||||
Bug fixes
|
||||
^^^^^^^^^
|
||||
|
||||
#. Fixed a bug that was causing the geom margins to be ignored during the midphase.
|
||||
9. Fixed a bug that was causing the geom margins to be ignored during the midphase.
|
||||
|
||||
|
||||
Version 2.3.7 (July 20, 2023)
|
||||
|
||||
@@ -1607,6 +1607,8 @@ The top-level function :ref:`mj_inverse` invokes the following sequence of compu
|
||||
#. Compute sensor data that depends on velocity, and the kinetic energy if enabled.
|
||||
#. Compute all passive forces.
|
||||
#. Compute the reference constraint acceleration.
|
||||
#. If the :ref:`invdiscrete<option-flag-invdiscrete>` flag is set and the :ref:`integrator<option-integrator>` is not
|
||||
``RK4``, convert input accelerations from discrete to continuous time.
|
||||
#. Compute the constraint force. This is done analytically, without using a numerical solver.
|
||||
#. Compute the inverse dynamics for the unconstrained system.
|
||||
#. Compute sensor data that depends on force and acceleration if enabled.
|
||||
|
||||
@@ -397,12 +397,13 @@ typedef enum mjtEnableBit_ { // enable optional feature bitflags
|
||||
mjENBL_OVERRIDE = 1<<0, // override contact parameters
|
||||
mjENBL_ENERGY = 1<<1, // energy computation
|
||||
mjENBL_FWDINV = 1<<2, // record solver statistics
|
||||
mjENBL_SENSORNOISE = 1<<3, // add noise to sensor data
|
||||
mjENBL_INVDISCRETE = 1<<3, // discrete-time inverse dynamics
|
||||
mjENBL_SENSORNOISE = 1<<4, // add noise to sensor data
|
||||
// experimental features:
|
||||
mjENBL_MULTICCD = 1<<4, // multi-point convex collision detection
|
||||
mjENBL_ISLAND = 1<<5, // constraint island discovery
|
||||
mjENBL_MULTICCD = 1<<5, // multi-point convex collision detection
|
||||
mjENBL_ISLAND = 1<<6, // constraint island discovery
|
||||
|
||||
mjNENABLE = 6 // number of enable flags
|
||||
mjNENABLE = 7 // number of enable flags
|
||||
} mjtEnableBit;
|
||||
typedef enum mjtJoint_ { // type of degree of freedom
|
||||
mjJNT_FREE = 0, // global position and orientation (quat) (7)
|
||||
|
||||
Reference in New Issue
Block a user