48 lines
4.2 KiB
XML
48 lines
4.2 KiB
XML
<mujocoinclude>
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<actuator>
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<!-- <position ctrlrange="-2.6 2.6" joint="wam/base_yaw_joint_right" kp="100.0" />-->
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<!-- <position ctrlrange="-1.985 1.985" joint="wam/shoulder_pitch_joint_right" kp="162.0" />-->
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<!-- <position ctrlrange="-2.8 2.8" joint="wam/shoulder_yaw_joint_right" kp="100.0" />-->
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<!-- <position ctrlrange="-0.9 3.14159" joint="wam/elbow_pitch_joint_right" kp="122.0" />-->
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<!-- <position ctrlrange="-4.55 1.25" joint="wam/wrist_yaw_joint_right" kp="100.0" />-->
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<!-- <position ctrlrange="-1.5707 1.5707" joint="wam/wrist_pitch_joint_right" kp="102.0" />-->
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<!-- <position ctrlrange="-3 3" joint="wam/palm_yaw_joint_right" kp="100.0" />-->
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<!-- <position ctrlrange="-2.6 2.6" joint="wam/base_yaw_joint_right" kp="151.0" ctrllimited="true"/>-->
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<!-- <position ctrlrange="-1.985 1.985" joint="wam/shoulder_pitch_joint_right" kp="125.0" ctrllimited="true"/>-->
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<!-- <position ctrlrange="-2.8 2.8" joint="wam/shoulder_yaw_joint_right" kp="122.0" ctrllimited="true"/>-->
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<!-- <position ctrlrange="-0.9 3.14159" joint="wam/elbow_pitch_joint_right" kp="121.0" ctrllimited="true"/>-->
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<!-- <position ctrlrange="-4.55 1.25" joint="wam/wrist_yaw_joint_right" kp="99.0" ctrllimited="true"/>-->
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<!-- <position ctrlrange="-1.5707 1.5707" joint="wam/wrist_pitch_joint_right" kp="103.0" ctrllimited="true"/>-->
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<!-- <position ctrlrange="-3 3" joint="wam/palm_yaw_joint_right" kp="99.0" ctrllimited="true"/>-->
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<!-- <position ctrlrange="-2.6 2.6" joint="wam/base_yaw_joint_right" kp="100.0" ctrllimited="true"/>-->
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<!-- <position ctrlrange="-1.985 1.985" joint="wam/shoulder_pitch_joint_right" kp="600.0" ctrllimited="true"/>-->
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<!-- <position ctrlrange="-2.8 2.8" joint="wam/shoulder_yaw_joint_right" kp="122.0" ctrllimited="true"/>-->
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<!-- <position ctrlrange="-0.9 3.14159" joint="wam/elbow_pitch_joint_right" kp="500.0" ctrllimited="true"/>-->
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<!-- <position ctrlrange="-4.55 1.25" joint="wam/wrist_yaw_joint_right" kp="99.0" ctrllimited="true"/>-->
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<!-- <position ctrlrange="-1.5707 1.5707" joint="wam/wrist_pitch_joint_right" kp="103.0" ctrllimited="true"/>-->
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<!-- <position ctrlrange="-3 3" joint="wam/palm_yaw_joint_right" kp="99.0" ctrllimited="true"/>-->
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<position ctrlrange="-2.6 2.6" joint="wam/base_yaw_joint_right" kp="800.0" ctrllimited="true"/>
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<position ctrlrange="-1.985 1.985" joint="wam/shoulder_pitch_joint_right" kp="800.0" ctrllimited="true"/>
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<position ctrlrange="-2.8 2.8" joint="wam/shoulder_yaw_joint_right" kp="800.0" ctrllimited="true"/>
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<position ctrlrange="-0.9 3.14159" joint="wam/elbow_pitch_joint_right" kp="800.0" ctrllimited="true"/>
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<position ctrlrange="-4.55 1.25" joint="wam/wrist_yaw_joint_right" kp="100.0" ctrllimited="true"/>
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<position ctrlrange="-1.5707 1.5707" joint="wam/wrist_pitch_joint_right" kp="1000.0" ctrllimited="true"/>
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<position ctrlrange="-3 3" joint="wam/palm_yaw_joint_right" kp="100.0" ctrllimited="true"/>
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<!-- <position ctrlrange="-2.6 2.6" joint="wam/base_yaw_joint_right" kp="1600.0" ctrllimited="true"/>-->
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<!--<!– <velocity ctrlrange="-50 50" joint="wam/base_yaw_joint_right" kv="100" ctrllimited="true"/>–>-->
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<!-- <position ctrlrange="-1.985 1.985" joint="wam/shoulder_pitch_joint_right" kp="2000.0" ctrllimited="true"/>-->
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<!-- <position ctrlrange="-2.8 2.8" joint="wam/shoulder_yaw_joint_right" kp="800.0" ctrllimited="true"/>-->
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<!-- <position ctrlrange="-0.9 3.14159" joint="wam/elbow_pitch_joint_right" kp="1200.0" ctrllimited="true"/>-->
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<!-- <position ctrlrange="-4.55 1.25" joint="wam/wrist_yaw_joint_right" kp="100.0" ctrllimited="true"/>-->
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<!-- <position ctrlrange="-1.5707 1.5707" joint="wam/wrist_pitch_joint_right" kp="2000.0" ctrllimited="true"/>-->
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<!-- <position ctrlrange="-3 3" joint="wam/palm_yaw_joint_right" kp="100.0" ctrllimited="true"/>-->
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</actuator>
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</mujocoinclude>
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