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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/testdata/damper.xml
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+15
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<mujoco>
<worldbody>
<geom type="plane" size="1 1 .01"/>
<light pos="0 0 2"/>
<body pos="0 0 .3">
<joint name="hinge" axis="0 1 0"/>
<geom type="capsule" size=".01" fromto="0 0 0 .2 0 0"/>
<geom size=".03" pos=".2 0 0"/>
</body>
</worldbody>
<actuator>
<damper name="damper" joint="hinge" kv="10" ctrlrange="0 1"/>
</actuator>
</mujoco>