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Add kv damping attribute to position and intvelocity actuator shortcuts.

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PiperOrigin-RevId: 588377097
Change-Id: I8ded2ff982e52ed8673019979e29b706ef65c743
This commit is contained in:
Yuval Tassa
2023-12-06 04:27:34 -08:00
committed by Copybara-Service
parent b3ccf67ebf
commit 762371c3e4
8 changed files with 250 additions and 142 deletions
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doc/XMLreference.rst
+28 -11
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@@ -5317,13 +5317,13 @@ This element does not have custom attributes. It only has common attributes, whi
This element creates a position servo. 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 0
========= ======= ========= =======
biastype affine biasprm 0 -kp -kv
========= ======= ========= =========
This element has one custom attribute in addition to the common attributes:
@@ -5377,6 +5377,11 @@ This element has one custom attribute in addition to the common attributes:
:at:`kp`: :at-val:`real, "1"`
Position feedback gain.
.. _actuator-position-kv:
:at:`kv`: :at-val:`real, "0"`
Damping applied by the actuator.
When using this attribute, it is recommended to use the implicitfast or implicit :ref:`integrators<geIntegration>`.
.. _actuator-velocity:
@@ -5385,7 +5390,9 @@ This element has one custom attribute in addition to the common attributes:
This element creates a velocity servo. Note that in order create a PD controller, one has to define two actuators: a
position servo and a velocity servo. This is because MuJoCo actuators are SISO while a PD controller takes two control
inputs (reference position and reference velocity). The underlying :el:`general` attributes are set as follows:
inputs (reference position and reference velocity).
When using this actuator, it is recommended to use the implicitfast or implicit :ref:`integrators<geIntegration>`.
The underlying :el:`general` attributes are set as follows:
========= ======= ========= =======
Attribute Setting Attribute Setting
@@ -5456,14 +5463,14 @@ 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
biastype affine biasprm 0 -kp -kv
actlimited true
========== =========== ========= =======
========== =========== ========= =========
This element has one custom attribute in addition to the common attributes:
@@ -5518,6 +5525,11 @@ This element has one custom attribute in addition to the common attributes:
:at:`kp`: :at-val:`real, "1"`
Position feedback gain.
.. _actuator-intvelocity-kv:
:at:`kv`: :at-val:`real, "0"`
Damping applied by the actuator.
When using this attribute, it is recommended to use the implicitfast or implicit :ref:`integrators<geIntegration>`.
.. _actuator-damper:
@@ -5525,8 +5537,9 @@ This element has one custom attribute in addition to the common attributes:
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element is an active damper which produces a force proportional to both velocity and control: ``F = - kv * velocity
* control``, where ``kv`` must be nonnegative. :at:`ctrlrange` is required and must also be nonnegative. The underlying
:el:`general` attributes are set as follows:
* control``, where ``kv`` must be nonnegative. :at:`ctrlrange` is required and must also be nonnegative.
When using this actuator, it is recommended to use the implicitfast or implicit :ref:`integrators<geIntegration>`.
The underlying :el:`general` attributes are set as follows:
=========== ======= ========= =======
Attribute Setting Attribute Setting
@@ -7680,6 +7693,8 @@ slidersite, cranksite.
.. _default-position-kp:
.. _default-position-kv:
:el-prefix:`default/` |-| **position** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -7736,6 +7751,8 @@ tendon, slidersite, cranksite.
.. _default-intvelocity-kp:
.. _default-intvelocity-kv:
:el-prefix:`default/` |-| **intvelocity** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^