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Add <dcmotor> actuator and related docs and tests.

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PiperOrigin-RevId: 892927987
Change-Id: I38ed6412801341ba03ddf5fe7b93a6081df24d37
This commit is contained in:
Yuval Tassa
2026-04-01 07:49:53 -07:00
committed by Copybara-Service
parent 6da210c794
commit 70a7647ad9
31 changed files with 3994 additions and 55 deletions
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test/engine/testdata/derivative/dcmotor.xml
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<mujoco>
<worldbody>
<body name="motor1" pos="0 0.1 0">
<joint name="slide1" type="slide" axis="0 0 1"/>
<geom size=".03"/>
</body>
<body name="motor2" pos="0 0.2 0">
<joint name="slide2" type="slide" axis="0 0 1"/>
<geom size=".03"/>
</body>
<body name="motor3" pos="0 0.3 0">
<joint name="slide3" type="slide" axis="0 0 1"/>
<geom size=".03"/>
</body>
<body name="motor4" pos="0 0.4 0">
<joint name="joint4"/>
<geom size=".03"/>
</body>
</worldbody>
<actuator>
<!-- DC motor back-EMF stateless damping -->
<dcmotor name="dc_bias" joint="slide1" motorconst="2.0" resistance="0.5"/>
<!-- DC motor velocity controller damping -->
<dcmotor name="dc_vel" joint="slide2" motorconst="1.0" resistance="1.0" input="velocity" controller="0 5"/>
<!-- DC motor position controller damping -->
<dcmotor name="dc_pos" joint="slide3" motorconst="1.0" resistance="1.0" input="position" controller="10 0 5"/>
<!-- DC motor with LuGre friction (sigma1 micro-damping) -->
<dcmotor name="dc_lugre" joint="joint4" motorconst="0.05" resistance="2.0"
lugre="1e4 100 0.001 0.005 0.008 0.1"/>
</actuator>
</mujoco>