Add kv damping attribute to position and intvelocity actuator shortcuts.
PiperOrigin-RevId: 588377097 Change-Id: I8ded2ff982e52ed8673019979e29b706ef65c743
This commit is contained in:
Yuval Tassa
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Copybara-Service
Copybara-Service
parent
b3ccf67ebf
commit
762371c3e4
+28
-11
@@ -5317,13 +5317,13 @@ This element does not have custom attributes. It only has common attributes, whi
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This element creates a position servo. The underlying :el:`general` attributes are set as follows:
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========= ======= ========= =======
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========= ======= ========= =========
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Attribute Setting Attribute Setting
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========= ======= ========= =======
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========= ======= ========= =========
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dyntype none dynprm 1 0 0
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gaintype fixed gainprm kp 0 0
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biastype affine biasprm 0 -kp 0
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========= ======= ========= =======
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biastype affine biasprm 0 -kp -kv
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========= ======= ========= =========
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This element has one custom attribute in addition to the common attributes:
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@@ -5377,6 +5377,11 @@ This element has one custom attribute in addition to the common attributes:
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:at:`kp`: :at-val:`real, "1"`
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Position feedback gain.
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.. _actuator-position-kv:
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:at:`kv`: :at-val:`real, "0"`
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Damping applied by the actuator.
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When using this attribute, it is recommended to use the implicitfast or implicit :ref:`integrators<geIntegration>`.
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.. _actuator-velocity:
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@@ -5385,7 +5390,9 @@ This element has one custom attribute in addition to the common attributes:
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This element creates a velocity servo. Note that in order create a PD controller, one has to define two actuators: a
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position servo and a velocity servo. This is because MuJoCo actuators are SISO while a PD controller takes two control
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inputs (reference position and reference velocity). The underlying :el:`general` attributes are set as follows:
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inputs (reference position and reference velocity).
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When using this actuator, it is recommended to use the implicitfast or implicit :ref:`integrators<geIntegration>`.
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The underlying :el:`general` attributes are set as follows:
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========= ======= ========= =======
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Attribute Setting Attribute Setting
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@@ -5456,14 +5463,14 @@ This element creates an integrated-velocity servo. For more information, see the
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:ref:`Activation clamping <CActRange>` section of the Modeling chapter. The underlying
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:el:`general` attributes are set as follows:
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========== =========== ========= =======
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========== =========== ========= =========
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Attribute Setting Attribute Setting
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========== =========== ========= =======
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========== =========== ========= =========
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dyntype integrator dynprm 1 0 0
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gaintype fixed gainprm kp 0 0
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biastype affine biasprm 0 -kp 0
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biastype affine biasprm 0 -kp -kv
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actlimited true
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========== =========== ========= =======
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========== =========== ========= =========
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This element has one custom attribute in addition to the common attributes:
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@@ -5518,6 +5525,11 @@ This element has one custom attribute in addition to the common attributes:
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:at:`kp`: :at-val:`real, "1"`
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Position feedback gain.
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.. _actuator-intvelocity-kv:
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:at:`kv`: :at-val:`real, "0"`
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Damping applied by the actuator.
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When using this attribute, it is recommended to use the implicitfast or implicit :ref:`integrators<geIntegration>`.
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.. _actuator-damper:
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@@ -5525,8 +5537,9 @@ This element has one custom attribute in addition to the common attributes:
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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This element is an active damper which produces a force proportional to both velocity and control: ``F = - kv * velocity
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* control``, where ``kv`` must be nonnegative. :at:`ctrlrange` is required and must also be nonnegative. The underlying
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:el:`general` attributes are set as follows:
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* control``, where ``kv`` must be nonnegative. :at:`ctrlrange` is required and must also be nonnegative.
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When using this actuator, it is recommended to use the implicitfast or implicit :ref:`integrators<geIntegration>`.
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The underlying :el:`general` attributes are set as follows:
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=========== ======= ========= =======
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Attribute Setting Attribute Setting
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@@ -7680,6 +7693,8 @@ slidersite, cranksite.
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.. _default-position-kp:
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.. _default-position-kv:
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:el-prefix:`default/` |-| **position** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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@@ -7736,6 +7751,8 @@ tendon, slidersite, cranksite.
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.. _default-intvelocity-kp:
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.. _default-intvelocity-kv:
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:el-prefix:`default/` |-| **intvelocity** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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+5
-3
@@ -778,7 +778,7 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`jointinparent<actuator-position-jointinparent>` | :ref:`tendon<actuator-position-tendon>` | :ref:`slidersite<actuator-position-slidersite>` | :ref:`cranksite<actuator-position-cranksite>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`site<actuator-position-site>` | :ref:`refsite<actuator-position-refsite>` | :ref:`kp<actuator-position-kp>` | | |
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| | | | :ref:`site<actuator-position-site>` | :ref:`refsite<actuator-position-refsite>` | :ref:`kp<actuator-position-kp>` | :ref:`kv<actuator-position-kv>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| actuator |br| |_| |L| | | .. table:: |
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@@ -810,6 +810,8 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`cranksite<actuator-intvelocity-cranksite>` | :ref:`site<actuator-intvelocity-site>` | :ref:`refsite<actuator-intvelocity-refsite>` | :ref:`kp<actuator-intvelocity-kp>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`kv<actuator-intvelocity-kv>` | | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| actuator |br| |_| |L| | | .. table:: |
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| :ref:`damper | \* | :class: mjcf-attributes |
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@@ -1440,7 +1442,7 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`gear<default-position-gear>` | :ref:`cranklength<default-position-cranklength>` | :ref:`user<default-position-user>` | :ref:`group<default-position-group>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`kp<default-position-kp>` | | | | |
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| | | | :ref:`kp<default-position-kp>` | :ref:`kv<default-position-kv>` | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| default |br| |_| |L| | | .. table:: |
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@@ -1462,7 +1464,7 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`actrange<default-intvelocity-actrange>` | :ref:`gear<default-intvelocity-gear>` | :ref:`cranklength<default-intvelocity-cranklength>` | :ref:`user<default-intvelocity-user>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`group<default-intvelocity-group>` | :ref:`kp<default-intvelocity-kp>` | | | |
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| | | | :ref:`group<default-intvelocity-group>` | :ref:`kp<default-intvelocity-kp>` | :ref:`kv<default-intvelocity-kv>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| default |br| |_| |L| | | .. table:: |
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@@ -12,6 +12,10 @@ General
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robust for very small or large geom sizes.
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- Added :ref:`frame<frame>` to MJCF, a :ref:`meta-element<meta-element>` which defines a pure coordinate transformation
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on its direct children, without requiring a :ref:`body<body>`.
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- Added the :at:`kv` attribute to the :ref:`position<actuator-position>` and :ref:`intvelocity<actuator-intvelocity>`
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actuators, for specifying actuator-applied damping. This can be used to implement a PD controller with 0 reference
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velocity. When using this attribute, it is recommended to use the implicitfast or implicit
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:ref:`integrators<geIntegration>`.
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Plugins
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^^^^^^^
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