chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

Improve armature documentation

Browse Source 
PiperOrigin-RevId: 742583729
Change-Id: I18d1c95a91f4d70b842c680d4a0f4d0b04476894
This commit is contained in:
Yuval Tassa
2025-04-01 01:16:06 -07:00
committed by Copybara-Service
parent 400a379b70
commit 05f3e914b0
4 changed files with 29 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/engine/testdata/armature_equivalence.xml
Vendored
+12 -3
View File
@@ -1,4 +1,13 @@
<mujoco>
<visual>
<global elevation="-20"/>
<headlight ambient=".3 .3 .3" diffuse=".9 .9 .9"/>
</visual>
<default>
<geom rgba="0.8 0.6 .4 1"/>
</default>
<worldbody>
<body name="link1">
<!-- inertia of link1 is 1.0 -->
@@ -10,7 +19,7 @@
<!-- inertia of motor1 is 1/12 * m * (0.2^2 + 0.2^2) = 0.2
see https://en.wikipedia.org/wiki/List_of_moments_of_inertia -->
<joint name="motor1" axis="0 -1 0"/>
<geom type="box" size=".1 .1 .1" mass="30" contype="0" conaffinity="0"/>
<geom type="box" size=".1 .1 .1" mass="30" contype="0" conaffinity="0" rgba=".6 .4 .8 1"/>
</body>
<body name="link2" pos="1.5 0 0">
@@ -27,8 +36,8 @@
</equality>
<actuator>
<position name="link1" joint="motor1" kp="1" kv=".1" ctrlrange="-5 5"/>
<position name="link1" joint="motor1" kp=".3" ctrlrange="-5 5"/>
<!-- actuators are made equivalent by setting link2 gear to link1 gear ratio -->
<position name="link2" joint="link2" kp="1" kv=".1" ctrlrange="-5 5" gear="3"/>
<position name="link2" joint="link2" kp=".3" ctrlrange="-5 5" gear="3"/>
</actuator>
</mujoco>