36 lines
2.5 KiB
XML
36 lines
2.5 KiB
XML
<mujocoinclude>
|
|
<actuator>
|
|
<!-- <motor name="wam/base_slide_motor" joint="wam/base_slide_joint" ctrllimited="true" ctrlrange="-1.0 1.0" gear="150.0"/>-->
|
|
<motor name="wam/base_motor" joint="wam/base_yaw_joint_right" ctrllimited="true" ctrlrange="-1.0 1.0" gear="150.0"/>
|
|
<motor name="wam/shoulder_pitch_motor" joint='wam/shoulder_pitch_joint_right' ctrllimited="true" ctrlrange="-1.0 1.0" gear="125.0"/>
|
|
<motor name="wam/shoulder_yaw_motor" joint='wam/shoulder_yaw_joint_right' ctrllimited="true" ctrlrange="-1.0 1.0" gear="40.0"/>
|
|
<motor name="wam/elbow_pitch_motor" joint='wam/elbow_pitch_joint_right' ctrllimited="true" ctrlrange="-1.0 1.0" gear="60.0"/>
|
|
<motor name="wam/wrist_yaw_motor" joint='wam/wrist_yaw_joint_right' ctrllimited="true" ctrlrange="-1.0 1.0" gear="5.0"/>
|
|
<motor name="wam/wrist_pitch_motor" joint='wam/wrist_pitch_joint_right' ctrllimited="true" ctrlrange="-1.0 1.0" gear="5.0"/>
|
|
<motor name="wam/palm_yaw_motor" joint='wam/palm_yaw_joint_right' ctrllimited="true" ctrlrange="-1.0 1.0" gear="2.0"/>
|
|
</actuator>
|
|
</mujocoinclude>
|
|
|
|
<!--<mujocoinclude>-->
|
|
<!--<actuator>-->
|
|
<!-- <motor name="wam/base_motor" joint="wam/base_yaw_joint_right"/>-->
|
|
<!-- <motor name="wam/shoulder_pitch_motor" joint='wam/shoulder_pitch_joint_right'/>-->
|
|
<!-- <motor name="wam/shoulder_yaw_motor" joint='wam/shoulder_yaw_joint_right'/>-->
|
|
<!-- <motor name="wam/elbow_pitch_motor" joint='wam/elbow_pitch_joint_right'/>-->
|
|
<!-- <motor name="wam/wrist_yaw_motor" joint='wam/wrist_yaw_joint_right'/>-->
|
|
<!-- <motor name="wam/wrist_pitch_motor" joint='wam/wrist_pitch_joint_right'/>-->
|
|
<!-- <motor name="wam/palm_yaw_motor" joint='wam/palm_yaw_joint_right'/>-->
|
|
<!--</actuator>-->
|
|
<!--</mujocoinclude>-->
|
|
|
|
<!--<mujocoinclude>-->
|
|
<!-- <actuator boastype="none">-->
|
|
<!-- <motor name="wam/shoulder_yaw_link_right_motor" joint="wam/base_yaw_joint_right"/>-->
|
|
<!-- <motor name="wam/shoulder_pitch_joint_right_motor" joint='wam/shoulder_pitch_joint_right'/>-->
|
|
<!-- <motor name="wam/shoulder_yaw_joint_right_motor" joint='wam/shoulder_yaw_joint_right'/>-->
|
|
<!-- <motor name="wam/elbow_pitch_joint_right_motor" joint='wam/elbow_pitch_joint_right'/>-->
|
|
<!-- <motor name="wam/wrist_yaw_joint_right_motor" joint='wam/wrist_yaw_joint_right'/>-->
|
|
<!-- <motor name="wam/wrist_pitch_joint_right_motor" joint='wam/wrist_pitch_joint_right'/>-->
|
|
<!-- <motor name="wam/palm_yaw_joint_right_motor" joint='wam/palm_yaw_joint_right'/>-->
|
|
<!-- </actuator>-->
|
|
<!--</mujocoinclude>--> |