Alessio Quaglino
307cf692e5
**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
16 lines
384 B
XML
16 lines
384 B
XML
<mujoco>
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<worldbody>
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<geom type="plane" size="1 1 .01"/>
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<light pos="0 0 2"/>
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<body pos="0 0 .3">
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<joint name="hinge" axis="0 1 0"/>
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<geom type="capsule" size=".01" fromto="0 0 0 .2 0 0"/>
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<geom size=".03" pos=".2 0 0"/>
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</body>
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</worldbody>
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<actuator>
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<damper name="damper" joint="hinge" kv="10" ctrlrange="0 1"/>
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</actuator>
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</mujoco>
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