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Add flag for disabling implicit integration of joint damping in the Euler integrator.

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PiperOrigin-RevId: 559398414
Change-Id: I43b23c5e75a2830a64b1898daeaa16f19e011718
This commit is contained in:
Yuval Tassa
2023-08-23 05:50:52 -07:00
committed by Copybara-Service
parent 5f2a2a325c
commit b7cf479abe
13 changed files with 156 additions and 18 deletions
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doc/computation.rst
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@@ -539,7 +539,9 @@ All three single-step integrators in MuJoCo use the update :eq:`eq_implicit_upda
Semi-implicit with implicit joint damping (``Euler``)
For this method, :math:`D` only includes derivatives of joint damping. Note that in this case :math:`D` is diagonal
and :math:`M-h D` is symmetric, so Cholesky decomposition can be used.
and :math:`M-h D` is symmetric, so Cholesky decomposition can be used. If the model has no joint damping or the
:ref:`eulerdamp<option-flag-eulerdamp>` disable-flag is set, implicit damping is disabled and the semi-implicit
update :eq:`eq_semimplicit` is used, rather than :eq:`eq_implicit_update`.
Implicit-in-velocity (``implicit``)
For this method, :math:`D` includes derivatives of all forces except the constraint forces :math:`J^T f(v)`. These
@@ -690,7 +692,7 @@ also treated as an input variable. All other :ref:`mjData` fields are functions
Note that the full integration state as given by :ref:`mjSTATE_INTEGRATION<mjtState>` is maximalist and includes fields
which are often unused. If a small state size is desired, it might be sensible to avoid saving unused fields.
In particular `xfrc_applied`` can be quite large (``6 x nbody``) yet is often unused.
In particular ``xfrc_applied`` can be quite large (``6 x nbody``) yet is often unused.
.. _geSimulationState: