Add flag for disabling implicit integration of joint damping in the Euler integrator.
PiperOrigin-RevId: 559398414 Change-Id: I43b23c5e75a2830a64b1898daeaa16f19e011718
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Yuval Tassa
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Copybara-Service
Copybara-Service
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@@ -2104,6 +2104,12 @@ from its default.
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This flag disables the mid-phase collision filtering using a static AABB bounding volume hierarchy (a BVH binary
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tree). If disabled, all geoms pairs that are allowed to collide are checked for collisions.
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.. _option-flag-eulerdamp:
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:at:`eulerdamp`: :at-val:`[disable, enable], "enable"`
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This flag disables implicit integration with respect to joint damping in the Euler integrator. See the
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:ref:`Numerical Integration<geIntegration>` section for more details.
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.. _option-flag-override:
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:at:`override`: :at-val:`[disable, enable], "disable"`
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+4
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@@ -239,9 +239,11 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`warmstart<option-flag-warmstart>` | :ref:`filterparent<option-flag-filterparent>` | :ref:`actuation<option-flag-actuation>` | :ref:`refsafe<option-flag-refsafe>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`sensor<option-flag-sensor>` | :ref:`override<option-flag-override>` | :ref:`energy<option-flag-energy>` | :ref:`fwdinv<option-flag-fwdinv>` | |
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| | | | :ref:`sensor<option-flag-sensor>` | :ref:`midphase<option-flag-midphase>` | :ref:`eulerdamp<option-flag-eulerdamp>` | :ref:`override<option-flag-override>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`sensornoise<option-flag-sensornoise>` | :ref:`multiccd<option-flag-multiccd>` | :ref:`island<option-flag-island>` | | |
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| | | | :ref:`energy<option-flag-energy>` | :ref:`fwdinv<option-flag-fwdinv>` | :ref:`sensornoise<option-flag-sensornoise>` | :ref:`multiccd<option-flag-multiccd>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`island<option-flag-island>` | | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| mujoco |br| |L| | | .. table:: |
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+3
-1
@@ -34,11 +34,13 @@ General
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#. Renamed ``actuatorforcerange`` and ``actuatorforcelimited``, introduced in the previous version to
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:ref:`actuatorfrcrange<body-joint-actuatorfrcrange>` and
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:ref:`actuatorfrclimited<body-joint-actuatorfrclimited>`, respectively.
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#. Added the flag :ref:`eulerdamp<option-flag-eulerdamp>`, which disables implicit integration of joint damping in the
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Euler integrator. See the :ref:`Numerical Integration<geIntegration>` section for more details.
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Python bindings
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^^^^^^^^^^^^^^^
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4. Fixed `#870 <https://github.com/deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
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7. Fixed `#870 <https://github.com/deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
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camera name used the default camera.
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+4
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@@ -539,7 +539,9 @@ All three single-step integrators in MuJoCo use the update :eq:`eq_implicit_upda
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Semi-implicit with implicit joint damping (``Euler``)
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For this method, :math:`D` only includes derivatives of joint damping. Note that in this case :math:`D` is diagonal
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and :math:`M-h D` is symmetric, so Cholesky decomposition can be used.
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and :math:`M-h D` is symmetric, so Cholesky decomposition can be used. If the model has no joint damping or the
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:ref:`eulerdamp<option-flag-eulerdamp>` disable-flag is set, implicit damping is disabled and the semi-implicit
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update :eq:`eq_semimplicit` is used, rather than :eq:`eq_implicit_update`.
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Implicit-in-velocity (``implicit``)
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For this method, :math:`D` includes derivatives of all forces except the constraint forces :math:`J^T f(v)`. These
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@@ -690,7 +692,7 @@ also treated as an input variable. All other :ref:`mjData` fields are functions
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Note that the full integration state as given by :ref:`mjSTATE_INTEGRATION<mjtState>` is maximalist and includes fields
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which are often unused. If a small state size is desired, it might be sensible to avoid saving unused fields.
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In particular `xfrc_applied`` can be quite large (``6 x nbody``) yet is often unused.
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In particular ``xfrc_applied`` can be quite large (``6 x nbody``) yet is often unused.
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.. _geSimulationState:
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@@ -387,8 +387,9 @@ typedef enum mjtDisableBit_ { // disable default feature bitflags
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mjDSBL_REFSAFE = 1<<11, // integrator safety: make ref[0]>=2*timestep
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mjDSBL_SENSOR = 1<<12, // sensors
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mjDSBL_MIDPHASE = 1<<13, // mid-phase collision filtering
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mjDSBL_EULERDAMP = 1<<14, // implicit integration of joint damping in Euler integrator
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mjNDISABLE = 14 // number of disable flags
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mjNDISABLE = 15 // number of disable flags
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} mjtDisableBit;
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typedef enum mjtEnableBit_ { // enable optional feature bitflags
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mjENBL_OVERRIDE = 1<<0, // override contact parameters
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