Hi, I am building a pole balancing model in MuJoCo. If actuator/motor (direct drive type) is used at a joint, the control input is torque, right? What If I use the actuator/motor (direct drive type) for the linear movement in simulation? What is the control input in this case? I am trying to build a pole balancing simulation in MuJoCo, and transfer the simulation to the physical system, but I am not sure what kind of actuator I should use. My servo motor can be controlled by position, velocity, and torque. So I am confused What kind of actuator I should use among actuator/motor, actuator/position, actuator/velocity. Could anybody give me a comment about those issues? Thanks.
For a motor attached to a slide joint, the meaning of ctrl is force (in Newtons, assuming all the other model parameters you entered are in SI). If you define a position actuator, then ctrl has the meaning of reference position. If you have an actuator that can generate torque and in addition has a position/velocity servo built into it, you need multiple MuJoCo actuators to model it.