From 620ab9b796d0abde0d1f53140f9f759665df0053 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Wed, 6 Dec 2023 04:27:34 -0800
Subject: [PATCH] Add `kv` damping attribute to `position` and `intvelocity`
 actuator shortcuts.

PiperOrigin-RevId: 588377097
Change-Id: I07d856807ab95166c02dd90dcd4ed62af4eefd60
---
 dm_control/mjcf/schema.xml              | 6 ++++++
 dm_control/mjcf/traversal_utils_test.py | 1 +
 2 files changed, 7 insertions(+)

diff --git a/dm_control/mjcf/schema.xml b/dm_control/mjcf/schema.xml
index 10e0ee0f..8237ed98 100644
--- a/dm_control/mjcf/schema.xml
+++ b/dm_control/mjcf/schema.xml
@@ -439,6 +439,7 @@
             <attribute name="cranklength" type="float"/>
             <attribute name="user" type="array" array_type="float"/>
             <attribute name="kp" type="float"/>
+            <attribute name="kv" type="float"/>
           </attributes>
         </element>
         <element name="velocity">
@@ -466,6 +467,7 @@
             <attribute name="cranklength" type="float"/>
             <attribute name="user" type="array" array_type="float"/>
             <attribute name="kp" type="float"/>
+            <attribute name="kv" type="float"/>
           </attributes>
         </element>
         <element name="damper">
@@ -742,6 +744,7 @@
                 <attribute name="cranklength" type="float"/>
                 <attribute name="user" type="array" array_type="float"/>
                 <attribute name="kp" type="float"/>
+                <attribute name="kv" type="float"/>
               </attributes>
             </element>
             <element name="velocity">
@@ -767,6 +770,7 @@
                 <attribute name="cranklength" type="float"/>
                 <attribute name="user" type="array" array_type="float"/>
                 <attribute name="kp" type="float"/>
+                <attribute name="kv" type="float"/>
               </attributes>
             </element>
             <element name="damper">
@@ -1965,6 +1969,7 @@
             <attribute name="refsite" type="reference" reference_namespace="site"/>
             <attribute name="user" type="array" array_type="float"/>
             <attribute name="kp" type="float"/>
+            <attribute name="kv" type="float"/>
           </attributes>
         </element>
         <element name="velocity" repeated="true" namespace="actuator">
@@ -2012,6 +2017,7 @@
             <attribute name="refsite" type="reference" reference_namespace="site"/>
             <attribute name="user" type="array" array_type="float"/>
             <attribute name="kp" type="float"/>
+            <attribute name="kv" type="float"/>
           </attributes>
         </element>
         <element name="damper" repeated="true" namespace="actuator">
diff --git a/dm_control/mjcf/traversal_utils_test.py b/dm_control/mjcf/traversal_utils_test.py
index 1b412cd0..688ed61a 100644
--- a/dm_control/mjcf/traversal_utils_test.py
+++ b/dm_control/mjcf/traversal_utils_test.py
@@ -155,6 +155,7 @@ def test_resolve_actuator_defaults(self):
     self.assert_same_attributes(position, dict(
         joint=joint,
         kp=0.1,
+        kv=0.2,
         forcelimited='true',
         forcerange=[-2, 3]))