From ed52b4084e36665373a44deac4c100ec4a7148e4 Mon Sep 17 00:00:00 2001 From: Kevin Zakka Date: Mon, 6 Mar 2023 03:36:17 -0800 Subject: [PATCH] Add missing affine gaintype to XMLreference. PiperOrigin-RevId: 514359011 Change-Id: I96668ed20dbb20b4d2b60a08eb71286bdfe5fe37 --- doc/XMLreference.rst | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst index 0c3d1c8e..88afd47d 100644 --- a/doc/XMLreference.rst +++ b/doc/XMLreference.rst @@ -3048,7 +3048,7 @@ specify them independently. muscle act_dot = mju_muscleDynamics(...) user act_dot = mjcb_act_dyn(...) ========== ================================== -:at:`gaintype`: :at-val:`[fixed, muscle, user], "fixed"` +:at:`gaintype`: :at-val:`[fixed, affine, muscle, user], "fixed"` The gain and bias together determine the output of the force generation mechanism, which is currently assumed to be affine. As already explained in :ref:`Actuation model `, the general formula is: scalar_force = gain_term \* (act or ctrl) + bias_term. @@ -3059,6 +3059,7 @@ specify them independently. Keyword Description ======= =============================== fixed gain_term = gainprm[0] + affine gain_term = gain_prm[0] + gain_prm[1]*length + gain_prm[2]*velocity muscle gain_term = mju_muscleGain(...) user gain_term = mjcb_act_gain(...) ======= ===============================