sweepTorqueMechanismChecks

Mechanism controls for the velocity-dependent torque artifact.

The propagation sweeps in scenarioCompareTorque show that an inertial drift velocity changes MuJoCo’s attitude even when no physical torque can act. This driver tests the proposed floating-point cancellation mechanism directly:

  1. record the initial MuJoCo generalized bias force for a generic drift;

  2. repeat the check along a coordinate axis, where the cancellation is exact;

  3. double speed and verify the expected quadratic error scaling; and

  4. double mass with inertia fixed and verify the expected linear scaling.

The quiet body has no gravity, applied torque, or initial body rate. Results are written to results/sweepTorqueMechanismChecks.json.

sweepTorqueMechanismChecks.quietMujocoRun(direction, speed, mass, captureBias=False, timeStep=0.1, simDuration=600.0, recordStep=1.0)[source]

Return maximum attitude drift and, optionally, the initial bias force.

sweepTorqueMechanismChecks.run(saveJson=True, speeds=(937.5, 1875.0, 3750.0, 7500.0), masses=(750.0, 1500.0), timeStep=0.1, simDuration=600.0, recordStep=1.0, resultsDir=None)[source]

Run the direct-bias, axis-cancellation, velocity, and mass controls.