Add dampratio attribute to position and intvelocity actuators.

PiperOrigin-RevId: 639745135 Change-Id: I94ba4c346d2750c6c454a60a568f2e6f6bce19d4
2024-06-03 05:26:14 -07:00
parent d6712f2944
commit 2830a4071f
9 changed files with 314 additions and 26 deletions
@@ -0,0 +1,44 @@
+<mujoco>
+  <visual>
+    <global elevation="0"/>
+  </visual>
+
+  <default>
+    <position ctrlrange="-.2 .2"/>
+    <joint axis="1 0 0" type="slide"/>
+  </default>
+
+  <option integrator="implicitfast"/>
+
+  <worldbody>
+    <light pos="0 0 2"/>
+
+    <body pos="0 0 .15">
+      <joint name="0"/>
+      <geom size=".05"/>
+    </body>
+
+    <body>
+      <joint name="1"/>
+      <geom mass="1" size=".05"/>
+    </body>
+
+    <body pos="0 0 -.15">
+      <joint name="2"/>
+      <geom mass="1" size=".05"/>
+    </body>
+
+    <body pos="0 0 -.3">
+      <joint name="3"/>
+      <geom mass="1" size=".05"/>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <position name="r=1/3"          joint="0" dampratio=".333" kp="10"/>
+    <position name="r=1"            joint="1" dampratio="1"    kp="10"/>
+    <position name="r=3"            joint="2" dampratio="3"    kp="10"/>
+    <!-- transmission increased by 10: reduce kp by 10^2 -->
+    <position name="r=1, g=10"      joint="3" dampratio="1"    kp=".1" gear="10" ctrlrange="-2 2"/>
+  </actuator>
+</mujoco>