BodyPostureMuscleReflex
Reflex that rotates the source Body towards a target orientation, based on the muscle moment arm.
Must be part of ReflexController. The excitation is computed as follows: U = C0 + KP rot(source, muscle, joint) + KV ang_vel(source, muscle, joint), where rot(source, muscle, joint) and ang_vel(source, muscle, joint) are the rotation of the source body from its target_orientation and its angular velocity, in the direction of the moment arm of the target muscle with respect to the joint.
Inherits from Reflex.
Public Attributes
| Parameter | Type | Description |
|---|---|---|
| source | String | Name of the Body that is the source of this Reflex, append with _o for Body on opposite side. |
| joint | String | Optional name of the Joint that is used to compute the muscle moment arm; default = autodetect. |
| target_orientation | Vec3Deg | Target orientation in YZX Euler order; default = [ 0 0 0 ]. |
| KP | Real | Orientation feedback gain; default = 0. |
| KV | Real | Velocity feedback gain; default = 0. |
| C0 | Real | Constant actuation added to the reflex; default = 0. |
| target | String | Name of the target actuator; use _o for actuators on the opposite side. |
| min_control_value | Real | Minimum output for this reflex; default = -infinity. |
| max_control_value | Real | Maximum output for this reflex; default = +infinity. |
| delay | TimeInSeconds | Neuromuscular delay [s] used for this reflex; default = 0. |
Converted from doxygen using dokugen