chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

Fix the table formatting in plugin/actuator/README.md.

Browse Source 
The line continuation format that was used is not supported on GitHub.

PiperOrigin-RevId: 590141362
Change-Id: I0ab0dabfb8977bdf79682476376dda435787eba0
This commit is contained in:
Nimrod Gileadi
2023-12-12 03:41:29 -08:00
committed by Copybara-Service
parent 5c8f22609a
commit aed4254d65
1 changed files with 7 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files
plugin/actuator/README.md
+7 -13
View File
@@ -38,16 +38,10 @@ You can use it like:
The available options are:
|Attribute|Default |Meaning |
|---------|--------|-------------------------------------------------------------------------------------------------------------------------------------|
|`kp` |0 |**P** gain for the controller. |
|`ki` |0 |**I** gain for the controller. |
: : : :
: : :If nonzero, one activation variable will be added to `mjData.act`, containing the current I term (in units of force). :
|`kd` |0 |**D** gain for the controller. |
|`imax` |Optional|If specified, the force produced by the I term will be clipped to the range `[-imax, -imax]`. |
|`slewmax`|Optional|The maximum rate at which the setpoint for the PID controller can change. |
: : : :
: : :If a bigger change is requested between two timesteps, it will be clipped to the range `[ctrl - slewmax * dt, ctrl + slewmax * dt]` :
: : : :
: : :If specified, one activation variable will be added to `mjData.act` containing the previous value of `ctrl`. :
|Attribute | Default | Meaning |
|----------|---------|---------|
|`kp` | 0 | **P** gain for the controller. |
|`ki` | 0 | **I** gain for the controller.<p/>If nonzero, one activation variable will be added to `mjData.act`, containing the current I term (in units of force). |
|`kd` | 0 | **D** gain for the controller. |
|`imax` | Optional | If specified, the force produced by the I term will be clipped to the range `[-imax, -imax]`. |
|`slewmax` | Optional | The maximum rate at which the setpoint for the PID controller can change.<p/>If a bigger change is requested between two timesteps, it will be clipped to the range `[ctrl - slewmax * dt, ctrl + slewmax * dt]`<p/>If specified, one activation variable will be added to `mjData.act` containing the previous value of `ctrl`. |