DeepMind
64bc6d27b2
Added analytic derivatives of smooth (unconstrained) dynamics forces, with respect to velocities: - Centripetal and Coriolis forces computed by the Recursive Newton-Euler algorithm. - Damping and fluid-drag passive forces. - Actuation forces. A new implicit-in-velocity integrator is implemented using the analytic derivatives. This integrator lies between the Euler and Runge Kutta integrators in terms of both stability and computational cost. PiperOrigin-RevId: 450377010 Change-Id: Ie192b441876c22e732fb749333926f296e0a09cc
26 lines
818 B
XML
26 lines
818 B
XML
<mujoco>
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<option integrator="implicit">
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<flag constraint="disable" energy="enable"/>
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</option>
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<worldbody>
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<light pos="0 0 1"/>
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<geom type="plane" size="1 1 .01" pos="0 0 -1"/>
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<body pos="0.15 0 0">
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<joint type="hinge" axis="0 1 0"/>
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<geom type="capsule" size="0.02" fromto="0 0 0 .1 0 0"/>
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<body pos="0.1 0 0">
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<joint type="slide" axis="1 0 0" stiffness="200"/>
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<geom type="capsule" size="0.015" fromto="-.1 0 0 .1 0 0"/>
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<body pos=".1 0 0">
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<joint type="ball"/>
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<geom type="box" size=".02" fromto="0 0 0 0 .1 0"/>
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<body pos="0 .1 0">
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<joint axis="1 0 0"/>
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<geom type="capsule" size="0.02" fromto="0 0 0 0 .1 0"/>
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</body>
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</body>
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</body>
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</body>
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</worldbody>
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</mujoco>
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