Yuval Tassa
51aa375af0
- Add `joint-actuatorforcerange` for clamping total actuator force at joints. Add `sensor-jointactuatorfrc` for sensing total actuator forces on a single joint. See [documentation](https://mujoco.readthedocs.io/en/latest//modeling.html#actuator-force-clamping) for justification and use cases. - Add simple car model to `model/`. - Move actuation-related test models into `engine/testdata/actuation/`. PiperOrigin-RevId: 549355941 Change-Id: I27f6c1f80426d73a2811ef5ae74684a228b2fbd1
26 lines
1.2 KiB
XML
26 lines
1.2 KiB
XML
<mujoco>
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<option density="1000">
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<flag gravity="disable"/>
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</option>
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<worldbody>
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<geom type="plane" size="10 10 .1" rgba="1 1 1 1"/>
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<light pos="0 0 20"/>
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<body name="body_stateless" pos="0 0 .5">
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<freejoint/>
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<geom type="box" size=".5 .5 .1" pos="0 0 .4"/>
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<site name="capsule" pos=".5 .5 .5" rgba="0 0 1 1" size=".1 .1" type="capsule"/>
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<site name="ellipsoid" pos=".5 -.5 .5" rgba="0 0 1 1" size=".1 .3 .1" type="ellipsoid" euler="0 0 -45"/>
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<site name="cylinder" pos="0 0 .5" rgba="0 0 1 1" size=".2 .1" type="cylinder"/>
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<site name="box" pos="-.5 -.5 .5" rgba="0 0 1 1" size=".1 .1 .2" type="box"/>
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</body>
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</worldbody>
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<actuator>
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<general name="ellipsoid" site="ellipsoid" gear="0 1 0 0 0 0" ctrllimited="true" ctrlrange="-100 100"/>
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<general name="cylinder" site="cylinder" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-100 100"/>
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<general name="box" site="box" dyntype="integrator" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-100 100"/>
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<general name="capsule" site="capsule" dyntype="integrator" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-100 100"/>
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</actuator>
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</mujoco>
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