44 lines
3.1 KiB
XML
44 lines
3.1 KiB
XML
<mujoco model="talos">
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<include file="talos.xml"/>
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<actuator>
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<motor name="torso_1_joint_torque" joint="torso_1_joint" ctrlrange="-200 200"/>
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<motor name="torso_2_joint_torque" joint="torso_2_joint" ctrlrange="-200 200"/>
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<motor name="head_1_joint_torque" joint="head_1_joint" ctrlrange="-8 8"/>
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<motor name="head_2_joint_torque" joint="head_2_joint" ctrlrange="-4 4"/>
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<motor name="arm_left_1_joint_torque" joint="arm_left_1_joint" ctrlrange="-100 100"/>
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<motor name="arm_left_2_joint_torque" joint="arm_left_2_joint" ctrlrange="-100 100"/>
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<motor name="arm_left_3_joint_torque" joint="arm_left_3_joint" ctrlrange="-70 70"/>
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<motor name="arm_left_4_joint_torque" joint="arm_left_4_joint" ctrlrange="-70 70"/>
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<motor name="arm_left_5_joint_torque" joint="arm_left_5_joint" ctrlrange="-20 20"/>
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<motor name="arm_left_6_joint_torque" joint="arm_left_6_joint" ctrlrange="-8 8"/>
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<motor name="arm_left_7_joint_torque" joint="arm_left_7_joint" ctrlrange="-8 8"/>
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<motor name="gripper_left_joint_torque" joint="gripper_left_joint" forcerange="-1 1" ctrlrange="-1 1"/>
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<motor name="arm_right_1_joint_torque" joint="arm_right_1_joint" ctrlrange="-100 100"/>
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<motor name="arm_right_2_joint_torque" joint="arm_right_2_joint" ctrlrange="-100 100"/>
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<motor name="arm_right_3_joint_torque" joint="arm_right_3_joint" ctrlrange="-70 70"/>
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<motor name="arm_right_4_joint_torque" joint="arm_right_4_joint" ctrlrange="-70 70"/>
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<motor name="arm_right_5_joint_torque" joint="arm_right_5_joint" ctrlrange="-20 20"/>
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<motor name="arm_right_6_joint_torque" joint="arm_right_6_joint" ctrlrange="-8 8"/>
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<motor name="arm_right_7_joint_torque" joint="arm_right_7_joint" ctrlrange="-8 8"/>
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<motor name="gripper_right_joint_torque" joint="gripper_right_joint" forcerange="-1 1" ctrlrange="-1 1"/>
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<motor name="leg_left_1_joint_torque" joint="leg_left_1_joint" ctrlrange="-100 100"/>
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<motor name="leg_left_2_joint_torque" joint="leg_left_2_joint" ctrlrange="-160 160"/>
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<motor name="leg_left_3_joint_torque" joint="leg_left_3_joint" ctrlrange="-160 160"/>
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<motor name="leg_left_4_joint_torque" joint="leg_left_4_joint" ctrlrange="-400 400"/>
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<motor name="leg_left_5_joint_torque" joint="leg_left_5_joint" ctrlrange="-160 160"/>
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<motor name="leg_left_6_joint_torque" joint="leg_left_6_joint" ctrlrange="-100 100"/>
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<motor name="leg_right_1_joint_torque" joint="leg_right_1_joint" ctrlrange="-100 100"/>
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<motor name="leg_right_2_joint_torque" joint="leg_right_2_joint" ctrlrange="-160 160"/>
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<motor name="leg_right_3_joint_torque" joint="leg_right_3_joint" ctrlrange="-160 160"/>
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<motor name="leg_right_4_joint_torque" joint="leg_right_4_joint" ctrlrange="-400 400"/>
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<motor name="leg_right_5_joint_torque" joint="leg_right_5_joint" ctrlrange="-160 160"/>
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<motor name="leg_right_6_joint_torque" joint="leg_right_6_joint" ctrlrange="-100 100"/>
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</actuator>
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<keyframe>
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<key
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qpos="0 0 1.08 1 0 0 0 0 0 0 0 0 0.16 0 0 0 0 0 0 0 0 0 0 0 0 0 -0.16 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0"/>
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</keyframe>
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</mujoco>
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