Yuval Tassa
c004d144d1
PiperOrigin-RevId: 898983657 Change-Id: I008529eacf3e400696d26bd3a52a4cf4c1c12225
62 lines
2.2 KiB
XML
62 lines
2.2 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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<body name="motor5" pos="0 0.5 0">
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<joint name="slide5" type="slide" axis="0 0 1"/>
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<geom size=".03"/>
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</body>
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<body name="motor6" pos="0 0.6 0">
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<joint name="slide6" type="slide" axis="0 0 1"/>
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<geom size=".03"/>
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</body>
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<body name="motor7" pos="0 0.7 0">
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<joint name="slide7" type="slide" axis="0 0 1"/>
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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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damping="0.001" lugre="1e4 100 0.005 0.008 0.1"/>
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<!-- Stateful current, voltage mode (back-EMF only through act_dot) -->
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<dcmotor name="dc_stateful_v" joint="slide5"
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motorconst="2.0" resistance="0.5" inductance="0 0.001"/>
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<!-- Stateful current, position mode (controller + back-EMF through act_dot) -->
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<dcmotor name="dc_stateful_pos" joint="slide6"
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motorconst="1.0" resistance="1.0" inductance="0 0.001"
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input="position" controller="10 0 5"/>
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<!-- Stateful current, velocity mode -->
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<dcmotor name="dc_stateful_vel" joint="slide7"
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motorconst="1.0" resistance="1.0" inductance="0 0.001"
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input="velocity" controller="5 0"/>
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</actuator>
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</mujoco>
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