 Alessio Quaglino
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307cf692e5
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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
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2022-06-16 06:21:17 -07:00 |
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