SingleActuatorMsgPayload

struct SingleActuatorMsgPayload

#include <SingleActuatorMsgPayload.h>

Represents the control input for a MuJoCo actuator that takes a single input.

This message is used to represent the control input value to a MuJoCo actuator. For actuators applied to pin (1DOF revolute) joints, this represents the torque magnitude applied on said joint. For actuators applied to a slider (1DOF translational) joint, this represents the force magnitude applied on the joint. For actuators applied at sites, the actuator will apply a force and torque in the site reference frame, where the force vector will be input*gear[0:3] and the torque vector will be input*gear[3:6], where gear is an attribute of the actuator. Essentially, gear defines the direction of both the force and torque and the input in this message defines the magnitude of both. Other actuators in MuJoCo are supported and controled with this message.

Public Members

double input

[-] Real valued input