Position + velocity actuator

Discussion in 'Modeling' started by Guillermo Castillo, Jun 18, 2018.

  1. Hi,

    Is it possible to set a desired position and velocity of an actuated joint at the same time? From the MuJoCo documentation I read that you can set the actuator as motor for using torque input, or position for using position inputs. However, I do not get how to use these two features together (if possible). My goal is to move a desired joint following a specific trajectory (position steps) with a defined velocity for each step. Both position and velocity are smooth functions. Thanks for your help in advance.
  2. Emo Todorov

    Emo Todorov Administrator Staff Member

    Each actuator in MuJoCo has a single control input. So you need two actuators attached to the same joint, one for position and one for velocity. Or, if the reference velocity is always zero, you can defined damping in the joint itself instead of attaching a second actuator.
  3. Thank you Emo.