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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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test/engine/testdata/actuation/refsite.xml
Vendored
+8 -8
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@@ -13,7 +13,7 @@
<default>
<default class="translation">
<general gainprm="100" biasprm="0 -100 -10" biastype="affine" ctrlrange="-.25 .25"/>
<position kp="100" kv="10" ctrlrange="-.25 .25"/>
</default>
<default class="rotation">
<!--
@@ -22,7 +22,7 @@
Increase this range to pi or bigger in order to see the instabillity.
See here for more details https://mujoco.readthedocs.io/en/latest/XMLreference.html#actuator
-->
<general gainprm=".5" biasprm="0 -.5 -.05" biastype="affine" ctrlrange="-1.571 1.571"/>
<position kp=".5" kv=".05" ctrlrange="-1.571 1.571"/>
</default>
<!--
Clamping the total actuator torque at the joints means that the motion produced by the Cartesian
@@ -62,11 +62,11 @@
</worldbody>
<actuator>
<general name="x" site="end_effector" refsite="reference" gear="1 0 0 0 0 0" class="translation"/>
<general name="y" site="end_effector" refsite="reference" gear="0 1 0 0 0 0" class="translation"/>
<general name="z" site="end_effector" refsite="reference" gear="0 0 1 0 0 0" class="translation"/>
<general name="rx" site="end_effector" refsite="reference" gear="0 0 0 1 0 0" class="rotation"/>
<general name="ry" site="end_effector" refsite="reference" gear="0 0 0 0 1 0" class="rotation"/>
<general name="rz" site="end_effector" refsite="reference" gear="0 0 0 0 0 1" class="rotation"/>
<position name="x" site="end_effector" refsite="reference" gear="1 0 0 0 0 0" class="translation"/>
<position name="y" site="end_effector" refsite="reference" gear="0 1 0 0 0 0" class="translation"/>
<position name="z" site="end_effector" refsite="reference" gear="0 0 1 0 0 0" class="translation"/>
<position name="rx" site="end_effector" refsite="reference" gear="0 0 0 1 0 0" class="rotation"/>
<position name="ry" site="end_effector" refsite="reference" gear="0 0 0 0 1 0" class="rotation"/>
<position name="rz" site="end_effector" refsite="reference" gear="0 0 0 0 0 1" class="rotation"/>
</actuator>
</mujoco>