chenlin/Mujoco_WASM
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222ee00a66b1fc05804792b1e2da378438d0d69b
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2 Commits

Author SHA1 Message Date
Nimrod Gileadi a693a2d981 Don't infer limited attributes automatically by default. 
This is an amendment to 4bfc2c0311.

Add an autolimits compiler option. When true, *limited will be inferred from the presence of the *range attributes.
When false, models where limited is not specified, and range is will fail to compile.

PiperOrigin-RevId: 472438650
Change-Id: I489098e879ee695030f44e0d8cd969787e75fb90
 2022-09-06 06:11:53 -07:00
Alessio Quaglino 307cf692e5 Add <damper> actuator shortcut and related mjGAIN_AFFINE. 
**Rationale**

A general `mjGAIN_AFFINE` actuator adds the term `force = (c + kp * length + kv * velocity) * ctrl`. The damper shortcut restricts it to `kv * velocity * ctrl` and sets the `ctrllimited` attribute to true.

**API**

```xml
<actuator>
  <damper ctrlrange="0 1" kv="1"/>
</actuator>
```

* Required attributes: `ctrlrange` (>=0)
* Optional attributes: `kv` (>=0)

PiperOrigin-RevId: 455366866
Change-Id: I88773abbeccabb6442f215c9fc05e205df63f692
 2022-06-16 06:21:17 -07:00