`position` servo parameters ?

[Theo-Cheynel]

Hi,

I was wondering whether the <position> actuator was supported in v2, and whether we could change its gain parameters (in MJCF files, the gains can be specified).

Thanks

[btaba]

Yes it's supported. We don't use gain, just gear, in a somewhat simplified version of the position actuator (still subject to change) the torque for a position actuator is $gear * (ctrl - q)$

[Theo-Cheynel]

I see, thank you very much ! So there is only a proportional term, and no derivative term (w.r.t. $\dot{q}$) ?

[btaba]

the derivative term is added via damping of the joint

[Theo-Cheynel]

That makes sense ! Thanks