Add kv damping attribute to position and intvelocity actuator shortcuts.

PiperOrigin-RevId: 588377097 Change-Id: I8ded2ff982e52ed8673019979e29b706ef65c743
2023-12-06 04:27:34 -08:00
parent b3ccf67ebf
commit 762371c3e4
8 changed files with 250 additions and 142 deletions
@@ -12,6 +12,10 @@ General
  robust for very small or large geom sizes.
 - Added :ref:`frame<frame>` to MJCF, a :ref:`meta-element<meta-element>` which defines a pure coordinate transformation
  on its direct children, without requiring a :ref:`body<body>`.
+- Added the :at:`kv` attribute to the :ref:`position<actuator-position>` and :ref:`intvelocity<actuator-intvelocity>`
+  actuators, for specifying actuator-applied damping. This can be used to implement a PD controller with 0 reference
+  velocity. When using this attribute, it is recommended to use the implicitfast or implicit
+  :ref:`integrators<geIntegration>`.

 Plugins
 ^^^^^^^