correct way to emulate servo motor (position, velocity, intvelocity...)

[ss555]

I write some simulation code that should mimic the robot fish swimming with servo motor when I have <intvelocity name="dc_motor" joint="joint_tail" gear="1" ctrlrange="-10 10" ctrllimited="true" in .XML file, I have an error XML Error: Schema violation for mujoco 2.2.0 on ubuntu 20.04 downloaded from https://github.com/deepmind/mujoco/releases/download/2.2.0/mujoco-2.2.0-linux-x86_64.tar.gz

while in documentation it seems that it's the most realistic choice:

https://mujoco.readthedocs.io/en/latest/XMLreference.html?highlight=intvelocity#actuator-intvelocity What is the proper way to emulate the servo motor?

p.s for now i use <position name="dc_motor" joint="joint_tail" gear="10" ctrlrange="-10 10" ctrllimited="true" kp="5000"/> with the high kp gain that I am not sure how to tune appart from trial and error.

[kevinzakka]

intvelocity is only available on the master branch of MuJoCo so it’s still an unreleased feature. As such, the pip version of MuJoCo as well as packages that depend on it (such as dm_control) have not been updated to reflect this. You’ll have to wait until it a new release is made.