42 lines
2.2 KiB
XML
42 lines
2.2 KiB
XML
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<mujoco model="tiago_position">
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<include file="tiago.xml"/>
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<default>
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<default class="position">
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<position dampratio="1"/>
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</default>
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</default>
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<actuator>
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<!-- Arm actuators -->
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<position class="position" name="arm_position_1_position" joint="arm_1_joint" inheritrange="1.0" kp="3000"/>
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<position class="position" name="arm_position_2_position" joint="arm_2_joint" inheritrange="1.0" kp="3000"/>
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<position class="position" name="arm_position_3_position" joint="arm_3_joint" inheritrange="1.0" kp="3000"/>
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<position class="position" name="arm_position_4_position" joint="arm_4_joint" inheritrange="1.0" kp="3000"/>
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<!-- Wrist actuators -->
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<position class="position" name="arm_position_5_position" joint="arm_5_joint" inheritrange="1.0" kp="500"/>
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<position class="position" name="arm_position_6_position" joint="arm_6_joint" inheritrange="1.0" kp="500"/>
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<position class="position" name="arm_position_7_position" joint="arm_7_joint" inheritrange="1.0" kp="500"/>
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<!-- End effector actuators -->
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<position class="position" name="gripper_left_finger_position" joint="gripper_left_finger_joint" inheritrange="0.999"
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forcerange="-5.197 5.197" kp="1000" kv="80"/>
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<position class="position" name="gripper_right_finger_position" joint="gripper_right_finger_joint" inheritrange="0.999"
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forcerange="-5.197 5.197" kp="1000" kv="80"/>
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<!-- Head actuators -->
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<position class="position" name="head_1_joint_position" joint="head_1_joint" inheritrange="1.0" kp="20"/>
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<position class="position" name="head_2_joint_position" joint="head_2_joint" inheritrange="1.0" kp="20"/>
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<!-- Torso actuators -->
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<position class="position" name="torso_lift_joint_position" joint="torso_lift_joint" inheritrange="1.0" kp="30000"/>
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<!-- Wheel actuators -->
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<velocity name="wheel_left_joint_vel" joint="wheel_left_joint" ctrlrange="-5 5" kv="100"/>
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<velocity name="wheel_right_joint_vel" joint="wheel_right_joint" ctrlrange="-5 5" kv="100"/>
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</actuator>
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<keyframe>
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<key name="home" ctrl="0.2 -1.34 -0.2 1.94 -1.57 1.37 0 0 0 0 0 0.15 0 0"
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qpos="0 0 -0.985 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.15 0 0 0.20 -1.34 -0.20 1.94 -1.57 1.37 0.0 0 0"/>
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</keyframe>
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</mujoco>
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