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fix mujoco attributes (#101)

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This commit is contained in:
Aditya Kamath
2025-06-17 13:12:50 +02:00
committed by GitHub
parent a76f5c9370
commit 63eede5a63
2 changed files with 18 additions and 18 deletions
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18
Simulation/SO101/so101_new_calib.xml
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@@ -5,8 +5,8 @@
<compiler angle="radian" meshdir="assets" autolimits="true"/> <compiler angle="radian" meshdir="assets" autolimits="true"/>
<default> <default>
<default class="so101_new_calib"> <default class="so101_new_calib">
<joint frictionloss="0.1" armature="0.005"/> <joint damping="1" frictionloss="0.1" armature="0.005"/>
<position kp="50" dampratio="1"/> <position kp="50"/>
<default class="visual"> <default class="visual">
<geom type="mesh" contype="0" conaffinity="0" group="2"/> <geom type="mesh" contype="0" conaffinity="0" group="2"/>
</default> </default>
@@ -20,7 +20,7 @@
<default class="sts3215"> <default class="sts3215">
<geom contype="0" conaffinity="0"/> <geom contype="0" conaffinity="0"/>
<joint damping="0.60" frictionloss="0.052" armature="0.028"/> <joint damping="0.60" frictionloss="0.052" armature="0.028"/>
<position kp="17.8" kv="0.0" forcerange="-3.35 3.35"/> <position kp="17.8"/>
</default> </default>
<default class="backlash"> <default class="backlash">
<!-- +/- 0.5° of backlash --> <!-- +/- 0.5° of backlash -->
@@ -149,12 +149,12 @@
<material name="moving_jaw_so101_v1_material" rgba="0.964706 0.964706 0.952941 1"/> <material name="moving_jaw_so101_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
</asset> </asset>
<actuator> <actuator>
<position class="sts3215" name="1" joint="1" inheritrange="1"/> <position class="sts3215" name="1" joint="1" forcerange="-3.35 3.35"/>
<position class="sts3215" name="2" joint="2" inheritrange="1"/> <position class="sts3215" name="2" joint="2" forcerange="-3.35 3.35"/>
<position class="sts3215" name="3" joint="3" inheritrange="1"/> <position class="sts3215" name="3" joint="3" forcerange="-3.35 3.35"/>
<position class="sts3215" name="4" joint="4" inheritrange="1"/> <position class="sts3215" name="4" joint="4" forcerange="-3.35 3.35"/>
<position class="sts3215" name="5" joint="5" inheritrange="1"/> <position class="sts3215" name="5" joint="5" forcerange="-3.35 3.35"/>
<position class="sts3215" name="6" joint="6" inheritrange="1"/> <position class="sts3215" name="6" joint="6" forcerange="-3.35 3.35"/>
</actuator> </actuator>
<equality/> <equality/>
</mujoco> </mujoco>

18
Simulation/SO101/so101_old_calib.xml
View File

@@ -5,8 +5,8 @@
<compiler angle="radian" meshdir="assets" autolimits="true"/> <compiler angle="radian" meshdir="assets" autolimits="true"/>
<default> <default>
<default class="so101_old_calib"> <default class="so101_old_calib">
<joint frictionloss="0.1" armature="0.005"/> <joint damping="1" frictionloss="0.1" armature="0.005"/>
<position kp="50" dampratio="1"/> <position kp="50"/>
<default class="visual"> <default class="visual">
<geom type="mesh" contype="0" conaffinity="0" group="2"/> <geom type="mesh" contype="0" conaffinity="0" group="2"/>
</default> </default>
@@ -20,7 +20,7 @@
<default class="sts3215"> <default class="sts3215">
<geom contype="0" conaffinity="0"/> <geom contype="0" conaffinity="0"/>
<joint damping="0.60" frictionloss="0.052" armature="0.028"/> <joint damping="0.60" frictionloss="0.052" armature="0.028"/>
<position kp="17.8" kv="0.0" forcerange="-3.35 3.35"/> <position kp="17.8"/>
</default> </default>
<default class="backlash"> <default class="backlash">
<!-- +/- 0.5° of backlash --> <!-- +/- 0.5° of backlash -->
@@ -149,12 +149,12 @@
<material name="moving_jaw_so101_v1_material" rgba="0.964706 0.964706 0.952941 1"/> <material name="moving_jaw_so101_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
</asset> </asset>
<actuator> <actuator>
<position class="sts3215" name="1" joint="1" inheritrange="1"/> <position class="sts3215" name="1" joint="1" forcerange="-3.35 3.35"/>
<position class="sts3215" name="2" joint="2" inheritrange="1"/> <position class="sts3215" name="2" joint="2" forcerange="-3.35 3.35"/>
<position class="sts3215" name="3" joint="3" inheritrange="1"/> <position class="sts3215" name="3" joint="3" forcerange="-3.35 3.35"/>
<position class="sts3215" name="4" joint="4" inheritrange="1"/> <position class="sts3215" name="4" joint="4" forcerange="-3.35 3.35"/>
<position class="sts3215" name="5" joint="5" inheritrange="1"/> <position class="sts3215" name="5" joint="5" forcerange="-3.35 3.35"/>
<position class="sts3215" name="6" joint="6" inheritrange="1"/> <position class="sts3215" name="6" joint="6" forcerange="-3.35 3.35"/>
</actuator> </actuator>
<equality/> <equality/>
</mujoco> </mujoco>