13 lines
990 B
XML
13 lines
990 B
XML
<mujocoinclude>
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<actuator>
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<motor name="wam/base_motor" joint="wam/base_yaw_joint_right" ctrllimited="true" ctrlrange="-1.0 1.0" gear="150.0"/>
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<motor name="wam/shoulder_pitch_motor" joint='wam/shoulder_pitch_joint_right' ctrllimited="true" ctrlrange="-1.0 1.0" gear="125.0"/>
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<motor name="wam/shoulder_yaw_motor" joint='wam/shoulder_yaw_joint_right' ctrllimited="true" ctrlrange="-1.0 1.0" gear="40.0"/>
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<motor name="wam/elbow_pitch_motor" joint='wam/elbow_pitch_joint_right' ctrllimited="true" ctrlrange="-1.0 1.0" gear="60.0"/>
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<motor name="wam/wrist_yaw_motor" joint='wam/wrist_yaw_joint_right' ctrllimited="true" ctrlrange="-1.0 1.0" gear="5.0"/>
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<motor name="wam/wrist_pitch_motor" joint='wam/wrist_pitch_joint_right' ctrllimited="true" ctrlrange="-1.0 1.0" gear="5.0"/>
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<motor name="wam/palm_yaw_motor" joint='wam/palm_yaw_joint_right' ctrllimited="true" ctrlrange="-1.0 1.0" gear="2.0"/>
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</actuator>
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</mujocoinclude>
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