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Fix bug in muscle length-gain curve. Fixes #1342

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PiperOrigin-RevId: 599165049
Change-Id: Ic5ef77b4349a8a9c343eacfd781195bfebea9aca
This commit is contained in:
Yuval Tassa
2024-01-17 07:19:11 -08:00
committed by Copybara-Service
parent 67a00a3a51
commit a14a584f1d
5 changed files with 47 additions and 38 deletions
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src/engine/engine_derivative.c
+1 -19
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@@ -790,11 +790,6 @@ static mjtNum mjd_muscleGain_vel(mjtNum len, mjtNum vel, const mjtNum lengthrang
force = scale / mju_max(mjMINVAL, acc0);
}
// mid-ranges
mjtNum a = 0.5*(lmin+1);
mjtNum b = 0.5*(1+lmax);
mjtNum x;
// optimum length
mjtNum L0 = (lengthrange[1]-lengthrange[0]) / mju_max(mjMINVAL, range[1]-range[0]);
@@ -803,20 +798,7 @@ static mjtNum mjd_muscleGain_vel(mjtNum len, mjtNum vel, const mjtNum lengthrang
mjtNum V = vel / mju_max(mjMINVAL, L0*vmax);
// length curve
mjtNum FL = 0;
if (L >= lmin && L <= a) {
x = (L-lmin) / mju_max(mjMINVAL, a-lmin);
FL = 0.5*x*x;
} else if (L <= 1) {
x = (1-L) / mju_max(mjMINVAL, 1-a);
FL = 1 - 0.5*x*x;
} else if (L <= b) {
x = (L-1) / mju_max(mjMINVAL, b-1);
FL = 1 - 0.5*x*x;
} else if (L <= lmax) {
x = (lmax-L) / mju_max(mjMINVAL, lmax-b);
FL = 0.5*x*x;
}
mjtNum FL = mju_muscleGainLength(L, lmin, lmax);
// velocity curve
mjtNum dFV;