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Change GitHub org name to google-deepmind.

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PiperOrigin-RevId: 563512242
Change-Id: Ife98501e95bb3459d96c7c73e5fb53be5513dd4b
This commit is contained in:
Saran Tunyasuvunakool
2023-09-07 12:32:28 -07:00
committed by Copybara-Service
parent 1a3215e329
commit 7e5a7b76fc
26 changed files with 213 additions and 208 deletions
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doc/modeling.rst
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@@ -617,12 +617,12 @@ Force clamping at joint input with :ref:`joint/actuatorfrcrange<body-joint-actua
actuator:
- In `this example model
<https://github.com/deepmind/mujoco/blob/main/test/engine/testdata/actuation/joint_force_clamp.xml>`__ ,
<https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/actuation/joint_force_clamp.xml>`__ ,
two actuators, a :ref:`motor<actuator-motor>` and a :ref:`damper<actuator-damper>`, act on a single joint.
- In `this example model <https://github.com/deepmind/mujoco/blob/main/model/car/car.xml>`__ (similar to a "Dubin's
- In `this example model <https://github.com/google-deepmind/mujoco/blob/main/model/car/car.xml>`__ (similar to a "Dubin's
Car"), two actuators act on two wheels via a :ref:`fixed tendon<tendon-fixed>` transmission in order to apply
symmetric (roll forward/back) and antisymmetric (turn right/left) torques.
- In `this example model <https://github.com/deepmind/mujoco/tree/main/test/engine/testdata/actuation/refsite.xml>`__,
- In `this example model <https://github.com/google-deepmind/mujoco/tree/main/test/engine/testdata/actuation/refsite.xml>`__,
a :ref:`site transmission<actuator-general-refsite>` implements a Cartesian controller of an arm end-effector.
In order for the computed torques to be realisable by individual, torque-limited joint motors, they need to be
clamped at the joints.