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dongridongdongridong
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added joint torque limit
1 parent 41f63dd commit 425c8a5

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-23
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1 file changed

+22
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‎rainbow_robotics_rby1/rby1.xml‎

Lines changed: 22 additions & 23 deletions
Original file line numberDiff line numberDiff line change
@@ -58,7 +58,6 @@
5858
<inertial pos="-0.0615794 -0.00142271 0.135139" quat="0.00383057 0.733861 -0.00742942 0.679248" mass="60.0804" diaginertia="3.77525 2.99424 1.36264" />
5959
<joint name="world_j" type="free" limited="false" actuatorfrclimited="false" />
6060
<include file="assets/base/geoms.xml" />
61-
6261
<body name="wheel_r" pos="0.228 -0.265 0.1">
6362
<inertial pos="0 -0.00073938 0" quat="0.707107 0 0 0.707107" mass="1.37784" diaginertia="0.00811815 0.00426657 0.00426657" />
6463
<joint name="right_wheel" pos="0 0 0" axis="0 -1 0" limited="false" />
@@ -240,31 +239,31 @@
240239
<velocity name="left_wheel_act" joint="left_wheel" ctrlrange="-3.14 3.14" />
241240
<velocity name="right_wheel_act" joint="right_wheel" ctrlrange="-3.14 3.14" />
242241

243-
<position name="link1_act" joint="torso_0" ctrlrange="-0.261799388 0.261799388" />
244-
<position name="link2_act" joint="torso_1" ctrlrange="-0.523598776 1.570796327" />
245-
<position name="link3_act" joint="torso_2" ctrlrange="-2.617993878 1.570796327" />
246-
<position name="link4_act" joint="torso_3" ctrlrange="-0.785398163 1.570796327" />
247-
<position name="link5_act" joint="torso_4" ctrlrange="-0.523598776 0.523598776" />
248-
<position name="link6_act" joint="torso_5" ctrlrange="-2.35619449 2.35619449" />
242+
<position name="link1_act" joint="torso_0" ctrlrange="-0.261799388 0.261799388" forcelimited="true" forcerange="-270 270"/>
243+
<position name="link2_act" joint="torso_1" ctrlrange="-0.523598776 1.570796327" forcelimited="true" forcerange="-270 270"/>
244+
<position name="link3_act" joint="torso_2" ctrlrange="-2.617993878 1.570796327" forcelimited="true" forcerange="-270 270"/>
245+
<position name="link4_act" joint="torso_3" ctrlrange="-0.785398163 1.570796327" forcelimited="true" forcerange="-120 120"/>
246+
<position name="link5_act" joint="torso_4" ctrlrange="-0.523598776 0.523598776" forcelimited="true" forcerange="-120 120"/>
247+
<position name="link6_act" joint="torso_5" ctrlrange="-2.35619449 2.35619449" forcelimited="true" forcerange="-120 120"/>
249248

250-
<position name="right_arm_1_act" joint="right_arm_0" ctrlrange="-3.141592654 3.141592654" />
251-
<position name="right_arm_2_act" joint="right_arm_1" ctrlrange="-3.141592654 0.017453293" />
252-
<position name="right_arm_3_act" joint="right_arm_2" ctrlrange="-3.141592654 3.141592654" />
253-
<position name="right_arm_4_act" joint="right_arm_3" ctrlrange="-2.617993878 0.017453293" />
254-
<position name="right_arm_5_act" joint="right_arm_4" ctrlrange="-3.141592654 3.141592654" />
255-
<position name="right_arm_6_act" joint="right_arm_5" ctrlrange="-1.570796327 1.919862177" />
256-
<position name="right_arm_7_act" joint="right_arm_6" ctrlrange="-2.792526803 2.792526803" />
249+
<position name="right_arm_1_act" joint="right_arm_0" ctrlrange="-3.141592654 3.141592654" forcelimited="true" forcerange="-70 70"/>
250+
<position name="right_arm_2_act" joint="right_arm_1" ctrlrange="-3.141592654 0.017453293" forcelimited="true" forcerange="-70 70"/>
251+
<position name="right_arm_3_act" joint="right_arm_2" ctrlrange="-3.141592654 3.141592654" forcelimited="true" forcerange="-70 70"/>
252+
<position name="right_arm_4_act" joint="right_arm_3" ctrlrange="-2.617993878 0.017453293" forcelimited="true" forcerange="-40 40"/>
253+
<position name="right_arm_5_act" joint="right_arm_4" ctrlrange="-3.141592654 3.141592654" forcelimited="true" forcerange="-10 10"/>
254+
<position name="right_arm_6_act" joint="right_arm_5" ctrlrange="-1.570796327 1.919862177" forcelimited="true" forcerange="-10 10"/>
255+
<position name="right_arm_7_act" joint="right_arm_6" ctrlrange="-2.792526803 2.792526803" forcelimited="true" forcerange="-8 8"/>
257256

258-
<position name="left_arm_1_act" joint="left_arm_0" ctrlrange="-3.141592654 3.141592654" />
259-
<position name="left_arm_2_act" joint="left_arm_1" ctrlrange="-0.017453293 3.141592654" />
260-
<position name="left_arm_3_act" joint="left_arm_2" ctrlrange="-3.141592654 3.141592654" />
261-
<position name="left_arm_4_act" joint="left_arm_3" ctrlrange="-2.617993878 0.017453293" />
262-
<position name="left_arm_5_act" joint="left_arm_4" ctrlrange="-3.141592654 3.141592654" />
263-
<position name="left_arm_6_act" joint="left_arm_5" ctrlrange="-1.570796327 1.919862177" />
264-
<position name="left_arm_7_act" joint="left_arm_6" ctrlrange="-2.792526803 2.792526803" />
257+
<position name="left_arm_1_act" joint="left_arm_0" ctrlrange="-3.141592654 3.141592654" forcelimited="true" forcerange="-70 70"/>
258+
<position name="left_arm_2_act" joint="left_arm_1" ctrlrange="-0.017453293 3.141592654" forcelimited="true" forcerange="-70 70"/>
259+
<position name="left_arm_3_act" joint="left_arm_2" ctrlrange="-3.141592654 3.141592654" forcelimited="true" forcerange="-70 70"/>
260+
<position name="left_arm_4_act" joint="left_arm_3" ctrlrange="-2.617993878 0.017453293" forcelimited="true" forcerange="-40 40"/>
261+
<position name="left_arm_5_act" joint="left_arm_4" ctrlrange="-3.141592654 3.141592654" forcelimited="true" forcerange="-10 10"/>
262+
<position name="left_arm_6_act" joint="left_arm_5" ctrlrange="-1.570796327 1.919862177" forcelimited="true" forcerange="-10 10"/>
263+
<position name="left_arm_7_act" joint="left_arm_6" ctrlrange="-2.792526803 2.792526803" forcelimited="true" forcerange="-8 8"/>
265264

266-
<position name="head_0_act" joint="head_0" ctrlrange="-0.523 0.523" />
267-
<position name="head_1_act" joint="head_1" ctrlrange="-0.35 1.57" />
265+
<position name="head_0_act" joint="head_0" ctrlrange="-0.523 0.523" forcelimited="true" forcerange="-1000 1000"/>
266+
<position name="head_1_act" joint="head_1" ctrlrange="-0.35 1.57" forcelimited="true" forcerange="-1000 1000"/>
268267

269268
<motor name="right_finger_act" joint="gripper_finger_r2" />
270269
<motor name="left_finger_act" joint="gripper_finger_l1" />

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