Simulating a nima 17 stepper motor

Discussion in 'Simulation' started by David Clement, Apr 23, 2018.

  1. Hi all,
    I am trying to simulate a "real world" robotic system that uses a number of different actuators including a classic "nima 17" motor. What would be the correct approach to simulating something like a stepper motor that has 200 "detents" but acts like a mujoco motor actuator in other respects?
  2. Emo Todorov

    Emo Todorov Administrator Staff Member

    MuJoCo does not have a native actuator type to simulate such effects. You could approximate it with a position actuator, and then when you set the reference position at runtime (via d->ctrl) set it to the nearest detent point. But make sure your controller updates the reference position before the next detent point is reached, or else you will end up with a smooth force from an ideal position servo.

    In general, simulating complicated actuators is left to the user.