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Add missing affine gaintype to XMLreference.

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PiperOrigin-RevId: 514359011
Change-Id: I96668ed20dbb20b4d2b60a08eb71286bdfe5fe37
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Kevin Zakka
2023-03-06 03:36:17 -08:00
committed by Copybara-Service
parent 367c254f54
commit ed52b4084e
1 changed files with 2 additions and 1 deletions
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doc/XMLreference.rst
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@@ -3048,7 +3048,7 @@ specify them independently.
muscle act_dot = mju_muscleDynamics(...) muscle act_dot = mju_muscleDynamics(...)
user act_dot = mjcb_act_dyn(...) 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 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 <geActuation>`, the general formula is: affine. As already explained in :ref:`Actuation model <geActuation>`, the general formula is:
scalar_force = gain_term \* (act or ctrl) + bias_term. scalar_force = gain_term \* (act or ctrl) + bias_term.
@@ -3059,6 +3059,7 @@ specify them independently.
Keyword Description Keyword Description
======= =============================== ======= ===============================
fixed gain_term = gainprm[0] fixed gain_term = gainprm[0]
affine gain_term = gain_prm[0] + gain_prm[1]*length + gain_prm[2]*velocity
muscle gain_term = mju_muscleGain(...) muscle gain_term = mju_muscleGain(...)
user gain_term = mjcb_act_gain(...) user gain_term = mjcb_act_gain(...)
======= =============================== ======= ===============================