Track separate kv property for position actuators

2024-05-27 11:48:11 +01:00
parent 7ca8a629a2
commit adbbcc4ff5
2 changed files with 9 additions and 1 deletions
@@ -164,11 +164,16 @@ public class MjActuator : MjComponent {
    [AbsoluteValue]
    public float Kp = 1.0f;

-    public void PositionToMjcf(XmlElement mjcf) {
+    [AbsoluteValue]
+    public float Kvp;
+
+      public void PositionToMjcf(XmlElement mjcf) {
      mjcf.SetAttribute("kp", MjEngineTool.MakeLocaleInvariant($"{Math.Abs(Kp)}"));
+      mjcf.SetAttribute("kv", MjEngineTool.MakeLocaleInvariant($"{Math.Abs(Kvp)}"));
    }
    public void PositionFromMjcf(XmlElement mjcf) {
      Kp = mjcf.GetFloatAttribute("kp", defaultValue: 1.0f);
+      Kvp = mjcf.GetFloatAttribute("kv", defaultValue: 0f);
    }

    //// Velocity actuator parameters.