- Load settings prior to first frame so dockspace layout restores reliably.
- Save settings on exit in App::~App().
- Persist and restore open/closed state of collapsible sections.
PiperOrigin-RevId: 966657100
Change-Id: I64fb5d02912bb36d096d7ac26ce8e0de03e6617b
The timestep, the solver tolerances, and impratio span several orders of
magnitude, where a linear +/- step is useless. Add ImGui_LogStepper, whose
buttons walk a "well-tempered" logarithmic ladder of round numbers that
closes each decade on a power of ten (see WellTemperedStep). It lays out
like ImGui's own InputScalar stepper -- field, then the - / + buttons, then
the label.
Apply it to the timestep, Tolerance, the LS/Noslip/CCD/Sleep tolerances,
and Imp Ratio. Strictly-positive quantities for which zero is meaningful
(the tolerances) take a zero_below floor: the ladder's bottom rung is 0, so
stepping down snaps to zero and stepping up off zero returns to the floor.
The timestep and impratio, which never want zero, leave it unset.
PiperOrigin-RevId: 965888812
Change-Id: I823e60913ecb2be2cade96baa5bf7de9e2334d5a
The dcmotor input block is any subset of the canonical list [pos, vel,
ff, voltage], selected with input="pos vel ff voltage" and recorded as
mjtCtrlInput bits in actuator_ctrlspec like pid. Tokens are required in
canonical order: the attribute denotes a set, the block always packs
canonically, and accepting permutations invites reading the string as a
layout choice. The mode flag in gainprm[8] is retired (reserved,
written 0).
Controller gains are now in torque space, as for pid: the controller
commands tau = kp*(q*-l) + kd*(v*-ldot) + ki*x_I + tau_ff over the
present inputs (absent setpoints frozen at zero) and converts to drive
voltage V = R/K * tau + K*ldot. The second term compensates back-EMF,
as the current loop of a real torque-mode driver does (torque commands
are current commands): commanded torque is delivered exactly until a
limit binds, and the torque-speed envelope emerges from the Vmax clamp.
The map uses the nameplate R: thermal resistance growth is not
compensated, so a hot motor under-delivers by R/R(T). A stateless
setpoint dcmotor now matches <pid> exactly, for any K and R; the old
back-EMF droop remains available as the physical behavior of the raw
voltage path. Voltage-space datasheet gains convert by K/R. Controller
inputs require a positive motor constant (the map divides by K), and
controller gains require a controller input.
ff and voltage are distinct inputs, different in kind: ff is a torque
feedforward added to the controller output, uniform with pid's ff
(feedforward in the actuator's output space), while voltage is the raw
terminal voltage of the physical device, injected downstream of the
controller and its Vmax clamp, unclamped (ctrlrange bounds it if
desired). input="voltage" is the default: the plain voltage-commanded
motor, whose behavior is unchanged by this commit. The integrator
always accumulates position error; the old velocity mode's integral
term, ki*(int(u)dt - theta), which tracked the integral of the velocity
command, is retired without replacement, keeping ki mode-independent --
commanded integrated velocity belongs to an integrator activation
state, not to controller gains. slewmax rate-limits the first controller
input -- position setpoint (rad/s), velocity setpoint (rad/s^2) or torque
feedforward (N*m/s), each a real driver feature (reference ramping,
ramped-velocity and ramped-torque input modes); the raw voltage input
is never rate-limited and slewmax requires a controller input.
input="none" selects the empty signature: the actuator owns no controls
at all (nu = 0 is now legal with actuators present) and is purely
passive -- LuGre friction, cogging and back-EMF braking as passive
joint forces. This exists because auxiliary dynamic states (the LuGre
bristle) attach to actuators, not joints. The terminal voltage is
identically zero, i.e. a shorted motor (dynamic braking); motorconst=0
decouples the electrical branch. mjINPUT_NONE is a distinct enum value
because ctrlspec = 0 means "unset, use the type default". History and
delay require an input; the controller voltage override and input read
in mj_fwdActuation are gated on a nonempty block.
The analytic velocity derivative of the controller becomes
dV/dw = -kd*R/K + K, whose second term cancels the back-EMF bias
exactly: the net damping of an unclipped torque-mode motor is -kd, and
of a voltage-mode or passive motor -K^2/R. Viewers label inputs via
mj_actuatorInputName: pos, vel, ff, voltage.
The dcmotor LaTeX design doc is updated accordingly: torque-space
units, the tau->V map and its saturation-generated envelope, the
input-block pipeline figure, and a Passive Operation section.
PiperOrigin-RevId: 965795351
Change-Id: Ibc308ca21bd6bad014e77f950ee08feaad449b73
Also add a detailed architectural comment that might be useful in future.
PiperOrigin-RevId: 965500329
Change-Id: Ia6a2a9137f07f726838b0acb28039a394db0efa2
chenlin
Yuval Tassa