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DeepMindcopybara-github
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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: Idba7ad95007405d5c7190437c291d6e7644d8615
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‎dm_control/mjcf/schema.xml‎

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@@ -446,6 +446,18 @@
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<attribute name="kp" type="float"/>
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</attributes>
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</element>
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<element name="damper">
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<attributes>
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<attribute name="group" type="int"/>
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<attribute name="forcelimited" type="keyword" valid_values="false true"/>
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<attribute name="ctrlrange" type="array" array_type="float" array_size="2"/>
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<attribute name="forcerange" type="array" array_type="float" array_size="2"/>
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<attribute name="gear" type="array" array_type="float" array_size="6"/>
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<attribute name="cranklength" type="float"/>
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<attribute name="user" type="array" array_type="float"/>
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<attribute name="kv" type="float"/>
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</attributes>
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</element>
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<element name="cylinder">
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<attributes>
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<attribute name="group" type="int"/>
@@ -701,6 +713,30 @@
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<attribute name="kv" type="float"/>
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</attributes>
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</element>
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<element name="intvelocity">
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<attributes>
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<attribute name="ctrllimited" type="keyword" valid_values="false true"/>
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<attribute name="forcelimited" type="keyword" valid_values="false true"/>
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<attribute name="ctrlrange" type="array" array_type="float" array_size="2"/>
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<attribute name="forcerange" type="array" array_type="float" array_size="2"/>
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<attribute name="actrange" type="array" array_type="float" array_size="2"/>
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<attribute name="gear" type="array" array_type="float" array_size="6"/>
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<attribute name="cranklength" type="float"/>
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<attribute name="user" type="array" array_type="float"/>
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<attribute name="kp" type="float"/>
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</attributes>
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</element>
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<element name="damper">
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<attributes>
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<attribute name="forcelimited" type="keyword" valid_values="false true"/>
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<attribute name="ctrlrange" type="array" array_type="float" array_size="2"/>
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<attribute name="forcerange" type="array" array_type="float" array_size="2"/>
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<attribute name="gear" type="array" array_type="float" array_size="6"/>
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<attribute name="cranklength" type="float"/>
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<attribute name="user" type="array" array_type="float"/>
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<attribute name="kv" type="float"/>
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</attributes>
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</element>
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<element name="cylinder">
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<attributes>
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<attribute name="ctrllimited" type="keyword" valid_values="false true"/>
@@ -1540,6 +1576,50 @@
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<attribute name="kv" type="float"/>
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</attributes>
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</element>
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<element name="intvelocity" repeated="true" namespace="actuator">
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<attributes>
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<attribute name="name" type="identifier"/>
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<attribute name="class" type="reference" reference_namespace="default"/>
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<attribute name="group" type="int"/>
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<attribute name="ctrllimited" type="keyword" valid_values="false true"/>
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<attribute name="forcelimited" type="keyword" valid_values="false true"/>
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<attribute name="ctrlrange" type="array" array_type="float" array_size="2"/>
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<attribute name="forcerange" type="array" array_type="float" array_size="2"/>
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<attribute name="actrange" type="array" array_type="float" array_size="2"/>
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<attribute name="lengthrange" type="array" array_type="float" array_size="2"/>
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<attribute name="gear" type="array" array_type="float" array_size="6"/>
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<attribute name="cranklength" type="float"/>
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<attribute name="joint" type="reference"/>
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<attribute name="jointinparent" type="reference" reference_namespace="joint"/>
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<attribute name="tendon" type="reference"/>
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<attribute name="cranksite" type="reference" reference_namespace="site"/>
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<attribute name="slidersite" type="reference" reference_namespace="site"/>
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<attribute name="site" type="reference"/>
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<attribute name="user" type="array" array_type="float"/>
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<attribute name="kp" type="float"/>
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</attributes>
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</element>
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<element name="damper" repeated="true" namespace="actuator">
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<attributes>
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<attribute name="name" type="identifier"/>
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<attribute name="class" type="reference" reference_namespace="default"/>
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<attribute name="group" type="int"/>
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<attribute name="forcelimited" type="keyword" valid_values="false true"/>
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<attribute name="ctrlrange" type="array" array_type="float" array_size="2"/>
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<attribute name="forcerange" type="array" array_type="float" array_size="2"/>
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<attribute name="lengthrange" type="array" array_type="float" array_size="2"/>
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<attribute name="gear" type="array" array_type="float" array_size="6"/>
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<attribute name="cranklength" type="float"/>
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<attribute name="joint" type="reference"/>
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<attribute name="jointinparent" type="reference" reference_namespace="joint"/>
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<attribute name="tendon" type="reference"/>
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<attribute name="cranksite" type="reference" reference_namespace="site"/>
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<attribute name="slidersite" type="reference" reference_namespace="site"/>
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<attribute name="site" type="reference"/>
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<attribute name="user" type="array" array_type="float"/>
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<attribute name="kv" type="float"/>
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</attributes>
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</element>
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<element name="cylinder" repeated="true" namespace="actuator">
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<attributes>
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<attribute name="name" type="identifier"/>

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