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Add timeconst attribute to position actuator.

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PiperOrigin-RevId: 635018979
Change-Id: I919573f4241ecb4a4c61c3b8b6641b31aa79eca4
This commit is contained in:
Tom Erez
2024-05-18 03:37:10 -07:00
committed by Copybara-Service
parent 875823ba96
commit 727893f0f2
6 changed files with 127 additions and 18 deletions
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doc/XMLreference.rst
+18 -8
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@@ -4972,15 +4972,16 @@ This element does not have custom attributes. It only has common attributes, whi
:el-prefix:`actuator/` |-| **position** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a position servo. The underlying :el:`general` attributes are set as follows:
This element creates a position servo with an optional first-order filter. The underlying :el:`general` attributes are
set as follows:
========= ======= ========= =========
Attribute Setting Attribute Setting
========= ======= ========= =========
dyntype none dynprm 1 0 0
gaintype fixed gainprm kp 0 0
biastype affine biasprm 0 -kp -kv
========= ======= ========= =========
========= =================== ========= =============
Attribute Setting Attribute Setting
========= =================== ========= =============
dyntype none or filterexact dynprm timeconst 0 0
gaintype fixed gainprm kp 0 0
biastype affine biasprm 0 -kp -kv
========= =================== ========= =============
This element has one custom attribute in addition to the common attributes:
@@ -5040,6 +5041,13 @@ This element has one custom attribute in addition to the common attributes:
Damping applied by the actuator.
When using this attribute, it is recommended to use the implicitfast or implicit :ref:`integrators<geIntegration>`.
.. _actuator-position-timeconst:
:at:`timeconst`: :at-val:`real, "0"`
Time-constant of the first-order filter. If larger than zero, the actuator uses the :at:`filterexact`
:ref:`dynamics type<actuator-general-dyntype>`, if zero (the default) no filter is used.
.. _actuator-position-inheritrange:
:at:`inheritrange`: :at-val:`real, "0"`
@@ -8085,6 +8093,8 @@ tendon, slidersite, cranksite.
.. _default-position-kv:
.. _default-position-timeconst:
:el-prefix:`default/` |-| **position** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^