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
25 lines
753 B
XML
25 lines
753 B
XML
<mujoco>
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<worldbody>
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<body name="damping in the joints">
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<joint type="slide" axis="0 0 1" damping="10"/>
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<geom size=".03"/>
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<body>
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<joint axis="0 1 0" damping=".1"/>
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<geom type="capsule" size=".01" fromto="0 0 0 .1 0 0"/>
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</body>
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</body>
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<body name="damping in the actuators" pos="0 0.1 0">
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<joint name="slide" type="slide" axis="0 0 1"/>
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<geom size=".03"/>
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<body>
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<joint name="hinge" axis="0 1 0"/>
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<geom type="capsule" size=".01" fromto="0 0 0 .1 0 0"/>
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</body>
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</body>
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</worldbody>
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<actuator>
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<general joint="slide" biastype="affine" biasprm="0 0 -10"/>
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<general joint="hinge" biastype="affine" biasprm="0 0 -0.1"/>
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</actuator>
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</mujoco>
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