DofMeasure [SCONE]

Measure that adds a penalty for a specific degree-of-freedom (DoF).

Penalties can be based on position, velocity, acceleration, limit_torque and actuator_torque. Example:

# Measure for upper body
DofMeasure {
    dof = pelvis_tilt
    position { min = -45 max = 0 abs_penalty = 10 } # Penalize leaning backwards
    velocity { min = -10 max = 10 abs_penalty = 10 } # Penalize upper body motion
}
# Measure for knee limits
CompositeMeasure {
    name = DofLimits
    symmetric = true
    DofMeasure {
        dof = knee_angle
        threshold = 2
        threshold_transition = 2
        weight = 0.1
        limit_torque { min = 0 max = 0 abs_penalty = 1 }
    }
}

Inherits from Measure.

Parameter	Type	Description
dof	Dof &	Dof to which to apply the penalty to.
parent	Dof *	Optional parent dof which will be added to the dof value.
position	RangePenalty< Degree >	Penalty for when the DOF position [deg] is out of range.
velocity	RangePenalty< Degree >	Penalty for when the DOF velocity [deg/s] is out of range.
acceleration	RangePenalty< Degree >	Penalty for when the DOF acceleration [deg/s^2] is out of range.
limit_torque	RangePenalty< Real >	Penalty for when the DOF limit torque [Nm] is out of range (this value is signed!).
actuator_torque	RangePenalty< Real >	Penalty for the DOF actuator torque (this value is signed!).
name	String	Name of the Measure, to be used in reporting; defaults to measure type.
weight	Real	Weighting factor applied to the result of the measure; default = 1.
threshold	Real	Threshold above / below which the measure becomes zero; default = 0.
threshold_transition	Real	Transition range above `threshold` between which the measure linearly decreases to zero; default = 0.
result_offset	Real	Offset added to measure result; default = 0.
minimize	bool	Indicate whether this measure should be minimized; default value depends on the measure type (usually true).
start_time	TimeInSeconds	Time [s] at which Controller becomes active; default = 0.
stop_time	TimeInSeconds	Time [s] at which Controller becomes inactive; default = until simulation ends.
signature_prefix	String	Prefix signature with custom string. Special tags: DATE_TIME, DATE_TIME_EXACT, SCONE_VERSION.
signature_postfix	String	Append custom string to signature. Special tags: DATE_TIME, DATE_TIME_EXACT, SCONE_VERSION.
signature	String	Set custom signature and omit the auto-generated signature.

Function	Description
double GetCurrentResult(const Model &model) override	Get last computed measure value, for use in rewards.
double GetResult(const Model &model)	Get final result.

_{Converted from doxygen using dokugen}

DofMeasure

Public Attributes

Public Functions