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
18 lines
491 B
XML
18 lines
491 B
XML
<mujoco>
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<option density="1.225" viscosity="1.8e-5" wind="0 0 1" integrator="implicit"/>
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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>
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<freejoint/>
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<body>
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<geom type="box" size=".025 .01 0.0001" pos=".025 0 0" euler="20 0 0" mass="1e-4"/>
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</body>
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<body>
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<geom type="box" size=".025 .01 0.0001" pos="-.025 0 0" euler="-19 0 0" mass="1e-4"/>
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</body>
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</body>
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</worldbody>
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</mujoco>
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