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— | ref:conditional_muscle_reflex [2023/12/14 16:03] (current) – created - external edit 127.0.0.1 | ||
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+ | ====== ConditionalMuscleReflex ====== | ||
+ | [[muscle_reflex|MuscleReflex]] that is only active when a specific DOF is within a specific range. | ||
+ | |||
+ | **Inherits from** [[muscle_reflex|MuscleReflex]]. | ||
+ | |||
+ | ==== Public Attributes ==== | ||
+ | ^ Parameter ^ Type ^ Description ^ | ||
+ | ^ dof | Dof & | Name of the DoF used for the condition. | | ||
+ | ^ pos_max | Real | Maximum dof position [rad or m] for this reflex to be active; default = 1e12. | | ||
+ | ^ pos_min | Real | Minimum dof position [rad or m] for this reflex to be active; default = -1e12. | | ||
+ | ^ source | Muscle & | Name of the source muscle (without side), append _o for opposite side, leave empty for monosynaptic reflexes (default). | | ||
+ | ^ C0 | Real | Constant actuation added to reflex output; default = 0. | | ||
+ | ^ KF | Real | Force feedback gain, based on normalized muscle force (F / Fmax); default = 0. | | ||
+ | ^ F0 | Real | Force feedback offset; default = 0. | | ||
+ | ^ allow_neg_F | bool | Allow this reflex to be negative; default = 1 (please note that you might want this to be 0 if offset is defined). | | ||
+ | ^ KL | Real | Length feedback gain, based on normalized CE length (L / Lopt); default = 0. | | ||
+ | ^ L0 | Real | Length feedback offset; default = 1. | | ||
+ | ^ allow_neg_L | bool | Allow this reflex to be negative; default = 1 (please note that you might want this to be 0 if offset is defined). | | ||
+ | ^ KV | Real | Velocity feedback gain, based on normalized CE velocity ((L / Lopt) / s); default = 0. | | ||
+ | ^ V0 | Real | Velocity feedback offset; default = 0. | | ||
+ | ^ allow_neg_V | bool | Allow this reflex to be negative; default = 0. | | ||
+ | ^ KA | Real | Muscle activation feedback gain, based on normalized activation; default = 0. | | ||
+ | ^ A0 | Real | Activation feedback offset; default = 0. | | ||
+ | ^ allow_neg_A | bool | Allow this reflex to be negative; default = 0. | | ||
+ | ^ KS | Real | Spindle feedback gain, based on [Prochazka 1999], p.135; default = 0. | | ||
+ | ^ S0 | Real | Spindle feedback offset; default = 0. | | ||
+ | ^ allow_neg_S | bool | Allow this reflex to be negative; 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. | | ||
+ | |||
+ | < | ||