ExternalBalanceController

Controller that balances a specific body part using external forces.

Inherits from Controller.

Public Attributes

Parameter Type Description
name String Name of the target body.
angular_position_target Real Target angular position [rad] of the body; default = 0.
angular_position_gain Real Torque gain for position displacement.
angular_velocity_gain Real Target angular velocity [rad/s] of the body; default = 0.
angular_velocity_target Real Torque gain for velocity damping.
start_time TimeInSeconds Time [s] at which Controller becomes active; default = 0.
stop_time TimeInSeconds Time [s] at which Controller becomes inactive; default = until simulation ends.
signature_prefix String Prefix signature with custom string. Special tags: DATE_TIME, DATE_TIME_EXACT, SCONE_VERSION.
signature_postfix String Append custom string to signature. Special tags: DATE_TIME, DATE_TIME_EXACT, SCONE_VERSION.

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