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Add gravcomp.

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PiperOrigin-RevId: 627791303
Change-Id: I87c9254967eb492d0c38153ff41d7458ffb69136
This commit is contained in:
Baruch Tabanpour
2024-04-24 11:18:35 -07:00
committed by Copybara-Service
parent 68e33f4c4e
commit e9709900b4
10 changed files with 152 additions and 98 deletions
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mjx/mujoco/mjx/test_data/pendula.xml
+17
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@@ -110,6 +110,20 @@
</body>
</body>
</body>
<!-- triple pendulum of hinges with gravcomp -->
<body pos="3.0 0 0" gravcomp="1">
<joint name="joint15" axis="0.1 0.2 0.3" type="hinge"/>
<geom/>
<body pos="0 0 -0.8" gravcomp="2">
<joint name="joint16" axis="0.4 0.5 0.6" type="hinge" armature="0.02" range="-20 20"/>
<geom/>
<body pos="0 -0.7 0" gravcomp="3">
<joint name="joint17" axis="0.7 0.8 0.9" type="hinge" damping="0.75" range="-30 30" actuatorgravcomp="true"/>
<geom/>
</body>
</body>
</body>
</worldbody>
<actuator>
@@ -118,5 +132,8 @@
<motor gear="0 0 300" joint="joint1" name="act3"/>
<motor gear="275" joint="joint2" name="act4"/>
<motor gear="275" joint="joint3" name="act5"/>
<motor gear="150" joint="joint15" name="act6"/>
<motor gear="150" joint="joint16" name="act7"/>
<motor gear="150" joint="joint17" name="act8"/>
</actuator>
</mujoco>