Hello, I would like to give body angular velocity by velocity actuator. (For instance, for body rate control of quadrotor) however, as I attach velocity actuator, it does not generate appropriate torque value to track the control input (angular velocity target). Rather, it generates larger torque leads to the body angular velocity exceeds the control input. As far as I understand, action input of velocity actuator is velocity input, and gear vector is corresponding rotating axis, so xml should be something like <mujoco model="quadrotor"> <worldbody> <geom name="floor" pos="0 0 0" size="2 2 .2" type="plane" conaffinity="1" rgba="1 1 1 1" condim="3"/> <body name="quadrotor"> <geom name="core" type="box" pos="0 0 0" quat = "1. 0. 0. 0" size="0.06 0.035 0.025" rgba="0.3 0.3 0.8 1" mass = ".1"/> <site name="rateX" type="box" pos="0 0 0" quat = "1. 0. 0. 0." size="0.06 0.035 0.025" rgba="0.3 0.8 0.3 1" /> </body> </worldbody> <actuator> <velocity ctrllimited="true" ctrlrange="-10 10" gear="0. 0. 0. 1. 0. 0." kv="1" site="rateX"/> </actuator> </mujoco> So my question is - how can I give a velocity target to floating body by velocity actuator? - what's the role of the gear ratio in angular velocity control?
oh, it was just gain problem. I will just leave this post for the one who needs a simple example for velocity actuator.