Hello, I am back, with another "problem". I cant figure out how to work with actuators. I tried to build two elements (capsules) and connect those via an joint. I try to use this joint to change the angle between these two elements. But my attempts are failing. Code: <body name="main_pill" pos="0 0 0"> <!-- size (radius und rundung, länge des Mittelteils) --> <geom name="main" type="capsule" fromto="0 0 1 0 0 3" size="1"/> <joint type="free"/> <body name="second_pill" pos="0 0 7"> <geom name="second" type="capsule" size="1 1"/> <joint name="winkel" type="hinge" pos="0 0 -2.5" axis="1 0 0" limited="true" range="-45 45" damping="5" stiffness="20" armature="0.02"/> </body> </body> </worldbody> <actuator> <general name="winkel"joint="winkel" gear="200"/> </actuator> The upper Part is falling a side and dragging the hole construct with it. afterwards i cant stretch the Joint to original position or switch it to opposite direction. Is there a simple Joint to use for first positive results? Do you have a idea what i am missing? Thanks for your help. Edit: I am sorry for this unstructured question, but I am heavily confused right now. And I am not sure where in the MuJoCo manual I should start to read to understand, how I can build actuators that do what I want them to do, maybe you can give some advise where to start?
Torque control is common to control a robot arm. you can feedback theta from the arm and calculate the error, then apply a PD controller to generate torque command for the joint. The actuator can be a motor type. The following figure is from "Modern Robotics" book ch. 11.