Yuval Tassa
70a7647ad9
PiperOrigin-RevId: 892927987 Change-Id: I38ed6412801341ba03ddf5fe7b93a6081df24d37
36 lines
1.2 KiB
XML
36 lines
1.2 KiB
XML
<mujoco>
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<worldbody>
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<body name="motor1" pos="0 0.1 0">
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<joint name="slide1" type="slide" axis="0 0 1"/>
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<geom size=".03"/>
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</body>
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<body name="motor2" pos="0 0.2 0">
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<joint name="slide2" type="slide" axis="0 0 1"/>
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<geom size=".03"/>
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</body>
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<body name="motor3" pos="0 0.3 0">
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<joint name="slide3" type="slide" axis="0 0 1"/>
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<geom size=".03"/>
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</body>
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<body name="motor4" pos="0 0.4 0">
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<joint name="joint4"/>
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<geom size=".03"/>
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</body>
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</worldbody>
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<actuator>
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<!-- DC motor back-EMF stateless damping -->
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<dcmotor name="dc_bias" joint="slide1" motorconst="2.0" resistance="0.5"/>
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<!-- DC motor velocity controller damping -->
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<dcmotor name="dc_vel" joint="slide2" motorconst="1.0" resistance="1.0" input="velocity" controller="0 5"/>
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<!-- DC motor position controller damping -->
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<dcmotor name="dc_pos" joint="slide3" motorconst="1.0" resistance="1.0" input="position" controller="10 0 5"/>
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<!-- DC motor with LuGre friction (sigma1 micro-damping) -->
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<dcmotor name="dc_lugre" joint="joint4" motorconst="0.05" resistance="2.0"
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lugre="1e4 100 0.001 0.005 0.008 0.1"/>
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</actuator>
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</mujoco>
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