ref:dof_measure

DofMeasure

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.
in_degrees bool Set if rotations are in degrees or radians; default = 1.
position RangePenalty< Real > Penalty for when the DOF position [deg or m] is out of range.
velocity RangePenalty< Real > Penalty for when the DOF velocity [deg/s or m/s] is out of range.
acceleration RangePenalty< Real > Penalty for when the DOF acceleration [deg/s^2 or m/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.

Converted from doxygen using dokugen