50 lines
2.1 KiB
XML
50 lines
2.1 KiB
XML
<mujocoinclude>
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<actuator>
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<position class="panda" ctrlrange="-2.9671 2.9671" forcerange="-87 87" joint="panda_joint1" kp="8700.0"
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name="panda_joint1"/>
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<position class="panda" ctrlrange="-1.8326 1.8326" forcerange="-87 87" joint="panda_joint2" kp="8700.0"
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name="panda_joint2"/>
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<position class="panda" ctrlrange="-2.9671 2.9671" forcerange="-87 87" joint="panda_joint3" kp="8700.0"
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name="panda_joint3"/>
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<position class="panda" ctrlrange="-3.1416 0.0" forcerange="-87 87" joint="panda_joint4" kp="8700.0"
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name="panda_joint4"/>
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<position class="panda" ctrlrange="-2.9671 2.9671" forcerange="-12 12" joint="panda_joint5" kp="1200.0"
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name="panda_joint5"/>
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<position class="panda" ctrlrange="-3.7525 2.1817" forcerange="-12 12" joint="panda_joint6" kp="1200.0"
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name="panda_joint6"/>
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<position class="panda" ctrlrange="-2.9671 2.9671" forcerange="-12 12" joint="panda_joint7" kp="1200.0"
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name="panda_joint7"/>
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</actuator>
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<default>
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<default class="panda">
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<joint axis="0 0 1" limited="true" pos="0 0 0"/>
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<position ctrllimited="true" forcelimited="true" user="1002 40 2001 -0.005 0.005"/>
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<default class="panda_viz">
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<geom conaffinity="0" contype="0" group="0" mass="0" rgba=".95 .99 .92 1" type="mesh"/>
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</default>
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<default class="panda_col">
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<geom conaffinity="1" contype="1" group="3" rgba=".5 .6 .7 1" type="mesh"/>
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</default>
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<default class="panda_arm">
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<joint damping="100"/>
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</default>
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<default class="panda_forearm">
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<joint damping="10"/>
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</default>
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<default class="panda_finger">
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<joint armature="5" damping="100"/>
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<geom conaffinity="0" condim="6" contype="1" friction="1 0.5 0.0001" group="3" margin="0.001" rgba="0.5 0.6 0.7 .4"
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solimp="0.8 0.9 0.001" solref="0.01 1" user="0"/>
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<position user="1002 40 2001 -0.0001 0.0001"/>
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</default>
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</default>
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<default class="panda_overlay">
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<joint armature="1" damping="1000" frictionloss="10" limited="false"/>
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<geom conaffinity="0" contype="0" group="2" rgba=".42 0.42 0.42 .5" type="mesh"/>
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</default>
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</default>
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</mujocoinclude> |