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
27 lines
717 B
XML
27 lines
717 B
XML
<mujoco>
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<compiler autolimits="true"/>
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<option integrator="implicitfast"/>
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<worldbody>
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<geom type="plane" size="1 1 .01"/>
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<light pos="0 0 2"/>
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<body pos="0 0 .3">
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<joint name="hinge" damping=".01" actuatorforcerange="-.4 .4"/>
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<geom type="capsule" size=".01" fromto="0 0 0 .2 0 0"/>
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<geom size=".03" pos=".2 0 0"/>
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</body>
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</worldbody>
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<actuator>
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<motor name="motor" joint="hinge" ctrlrange="-1 1"/>
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<damper name="damper" joint="hinge" kv="10" ctrlrange="0 1"/>
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</actuator>
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<sensor>
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<actuatorfrc name="motor" actuator="motor"/>
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<actuatorfrc name="damper" actuator="damper"/>
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<jointactuatorfrc name="hinge" joint="hinge"/>
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</sensor>
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</mujoco>
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