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Add intvelocity actuator shortcut.

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PiperOrigin-RevId: 454899823
Change-Id: I9b5494baacfab5a7d03bd680d0ded06a7790e75e
This commit is contained in:
Kevin Zakka
2022-06-14 10:36:15 -07:00
committed by Copybara-Service
parent 0e1918782a
commit 6048a55daf
5 changed files with 224 additions and 21 deletions
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doc/XMLreference.rst
+69
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@@ -399,6 +399,19 @@ if present, the parser ignores it. The symbols in the second column of the table
| | | | :at:`user` | :at:`group` | :at:`kv` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`intvelocity` | ? | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`ctrllimited` | :at:`forcelimited` | :at:`ctrlrange` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`forcerange` | :at:`gear` | :at:`cranklength` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`user` | :at:`group` | :at:`kp` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`actrange` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`cylinder` | ? | .. table:: |
| | | :class: mjcf-attributes |
| | | |
@@ -959,6 +972,25 @@ if present, the parser ignores it. The symbols in the second column of the table
| | | | :at:`cranksite` | :at:`site` | :at:`kv` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`intvelocity` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`class` | :at:`group` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`ctrllimited` | :at:`forcelimited` | :at:`ctrlrange` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`forcerange` | :at:`lengthrange` | :at:`actrange` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`gear` | :at:`cranklength` | :at:`user` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`joint` | :at:`jointinparent` | :at:`tendon` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`slidersite` | :at:`cranksite` | :at:`site` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`kp` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`cylinder` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
@@ -2288,6 +2320,14 @@ slidersite, cranksite.
All :ref:`velocity <velocity>` attributes are available here except: name, class, joint, jointinparent, site, tendon,
slidersite, cranksite.
.. _default-intvelocity:
:el-prefix:`default/` **intvelocity** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
All :ref:`intvelocity <intvelocity>` attributes are available here except: name, class, joint, jointinparent, site, tendon,
slidersite, cranksite.
.. _default-cylinder:
:el-prefix:`default/` **cylinder** (?)
@@ -4374,6 +4414,35 @@ This element has one custom attribute in addition to the common attributes:
:at:`kv`: :at-val:`real, "1"`
Velocity feedback gain.
.. _intvelocity:
:el-prefix:`actuator/` **intvelocity** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates an integrated-velocity servo. For more information, see the
:ref:`Activation clamping <CActRange>` section of the Modeling chapter. The underlying
:el:`general` attributes are set as follows:
========= =========== ========= =======
Attribute Setting Attribute Setting
========= =========== ========= =======
dyntype integrator dynprm 1 0 0
gaintype fixed gainprm kp 0 0
biastype affine biasprm 0 -kp 0
========= =========== ========= =======
This element has one custom attribute in addition to the common attributes:
.. |actuator/intvelocity attrib list| replace::
:at:`name`, :at:`class`, :at:`group`, :at:`ctrllimited`, :at:`forcelimited`, :at:`ctrlrange`, :at:`forcerange`,
:at:`lengthrange`, :at:`gear`, :at:`cranklength`, :at:`joint`, :at:`jointinparent`, :at:`tendon`, :at:`cranksite`,
:at:`slidersite`, :at:`site`, :at:`user`
|actuator/intvelocity attrib list|
Same as in actuator/ :ref:`general <general>`.
:at:`kp`: :at-val:`real, "1"`
Position feedback gain.
.. _cylinder:
:el-prefix:`actuator/` **cylinder** (*)