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Add <damper> actuator shortcut and related mjGAIN_AFFINE.

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**Rationale**

A general `mjGAIN_AFFINE` actuator adds the term `force = (c + kp * length + kv * velocity) * ctrl`. The damper shortcut restricts it to `kv * velocity * ctrl` and sets the `ctrllimited` attribute to true.

**API**

```xml
<actuator>
  <damper ctrlrange="0 1" kv="1"/>
</actuator>
```

* Required attributes: `ctrlrange` (>=0)
* Optional attributes: `kv` (>=0)

PiperOrigin-RevId: 455366866
Change-Id: I88773abbeccabb6442f215c9fc05e205df63f692
This commit is contained in:
Alessio Quaglino
2022-06-16 06:20:49 -07:00
committed by Copybara-Service
parent e0b6ba4a13
commit 307cf692e5
14 changed files with 283 additions and 34 deletions
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test/engine/engine_forward_test.cc
+37
View File
@@ -89,6 +89,43 @@ TEST_F(ForwardTest, ActLimited) {
mj_deleteModel(model);
}
// --------------------------- damping actuator --------------------------------
TEST_F(ForwardTest, DamperDampens) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1"/>
<joint name="jnt" type="slide" axis="1 0 0" range="-10 10"/>
</body>
</worldbody>
<actuator>
<motor joint="jnt"/>
<damper joint="jnt" kv="1000" ctrlrange="0 100"/>
</actuator>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
mjData* data = mj_makeData(model);
// move the joint
data->ctrl[0] = 100.0;
data->ctrl[1] = 0.0;
for (int i=0; i<100; i++)
mj_step(model, data);
// stop the joint with damping
data->ctrl[0] = 0.0;
data->ctrl[1] = 100.0;
for (int i=0; i<1000; i++)
mj_step(model, data);
EXPECT_LE(data->qvel[0], std::numeric_limits<double>::epsilon());
mj_deleteData(data);
mj_deleteModel(model);
}
// --------------------------- implicit integrator -----------------------------
using ImplicitIntegratorTest = MujocoTest;