30 lines
1.4 KiB
XML
30 lines
1.4 KiB
XML
<mujoco model="tiago">
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<include file="tiago.xml"/>
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<actuator>
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<!-- Arm actuators -->
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<motor name="arm_1_joint_motor" joint="arm_1_joint"/>
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<motor name="arm_2_joint_motor" joint="arm_2_joint"/>
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<motor name="arm_3_joint_motor" joint="arm_3_joint"/>
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<motor name="arm_4_joint_motor" joint="arm_4_joint"/>
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<!-- Wrist actuators -->
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<motor name="arm_5_joint_motor" joint="arm_5_joint"/>
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<motor name="arm_6_joint_motor" joint="arm_6_joint"/>
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<motor name="arm_7_joint_motor" joint="arm_7_joint"/>
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<!-- End effector actuators -->
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<position name="gripper_left_finger_position" joint="gripper_left_finger_joint" inheritrange="0.999"
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forcerange="-64 64" kp="1000"/>
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<position name="gripper_right_finger_position" joint="gripper_right_finger_joint" inheritrange="0.999"
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forcerange="-64 64" kp="1000"/>
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<!-- Head actuators -->
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<position name="head_1_joint_position" joint="head_1_joint" inheritrange="1.0" kp="20"/>
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<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 name="torso_lift_joint_position" joint="torso_lift_joint" inheritrange="1.0" kp="5000"/>
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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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</mujoco>
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