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
48 lines
1.8 KiB
XML
48 lines
1.8 KiB
XML
<mujoco>
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<compiler autolimits="true"/>
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<option density="1000"/>
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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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<site name="anchor_tendon" pos="0 0 9" size="0.03" rgba="0 0 1 1"/>
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<body name="body_hinge" pos="5 0 3">
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<geom type="box" size="1.5 .1 .1" pos="0 0 2.0"/>
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<joint name="hinge" type="hinge" pos="0 0 2.0" axis="0 1 0" range="-25 5"/>
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</body>
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<body name="body_tendon" pos="0 0 5">
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<freejoint/>
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<geom type="box" size=".5 .5 .5"/>
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<site name="box_tendon" pos=".5 .5 .5" rgba="0 0 1 1" size="0.03"/>
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</body>
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<body name="body_slider" pos="5 -2 2">
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<geom type="box" size=".5 .5 .5"/>
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<joint name="slider" type="slide" pos=".5 0 0" axis="1 0 0" range="-25 5"/>
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</body>
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<body name="body_site" pos="2 2 .5">
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<freejoint/>
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<geom type="box" size=".5 .5 .5"/>
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<site name="box_site" pos="0 0 .5" rgba="0 0 1 1" size="0.1"/>
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</body>
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<body name="body_stateless" pos="5 2 2">
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<geom type="box" size=".5 .5 .5"/>
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<joint name="stateless" type="slide" pos=".5 0 0" axis="1 0 0" range="-25 5"/>
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</body>
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</worldbody>
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<tendon>
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<spatial name="tendon" limited="true" range="0 4" damping="100" width="0.03">
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<site site="anchor_tendon"/>
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<site site="box_tendon"/>
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</spatial>
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</tendon>
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<actuator>
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<general name="stateless" joint="stateless" ctrllimited="true" ctrlrange="-20 20"/>
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<general name="hinge" joint="hinge" dyntype="integrator" ctrllimited="true" ctrlrange="-20 20"/>
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<muscle name="tendon" tendon="tendon" ctrllimited="true" ctrlrange="0 2"/>
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<general name="slider" joint="slider" dyntype="integrator" ctrllimited="true" ctrlrange="-20 20"/>
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<general name="site" site="box_site" dyntype="integrator" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="0 10000"/>
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</actuator>
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</mujoco>
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