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Add dampratio attribute to position and intvelocity actuators.

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PiperOrigin-RevId: 639745135
Change-Id: I94ba4c346d2750c6c454a60a568f2e6f6bce19d4
This commit is contained in:
Yuval Tassa
2024-06-03 05:26:14 -07:00
committed by Copybara-Service
parent d6712f2944
commit 2830a4071f
9 changed files with 314 additions and 26 deletions
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doc/changelog.rst
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@@ -11,8 +11,13 @@ General
1. Added :ref:`mj_geomDistance` for computing the shortest signed distance between two geoms and optionally a segment
connecting them. Relatedly, added the 3 sensors: :ref:`distance<sensor-distance>`, :ref:`normal<sensor-normal>`,
:ref:`fromto<sensor-fromto>`. See the function and sensor documentation for details. Fixes :github:issue:`51`.
2. Added :ref:`timeconst<actuator-position-timeconst>` attribute to the :ref:`position actuator<actuator-position>`.
When set to a positive value, the actuator is made stateful with :at:`filterexact` dynamics.
2. Improvements to position actuators:
- Added :ref:`timeconst<actuator-position-timeconst>` attribute to the :ref:`position actuator<actuator-position>`.
When set to a positive value, the actuator is made stateful with :at:`filterexact` dynamics.
- Added :ref:`dampratio<actuator-position-dampratio>` to both :el:`position` and :el:`intvelocity` actuators. An
alternative to the :at:`kv` attribute, it provides a convenient way to set actuator damping using natural units.
See attribute documentation for details.
MJX
^^^