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move different TIAGo++ control modes into separate xml files
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,25 @@ | ||
| <mujoco model="tiago dual position scene"> | ||
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| <include file="tiago_dual_position.xml"/> | ||
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| <visual> | ||
| <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/> | ||
| <rgba haze="0.15 0.25 0.35 1"/> | ||
| <global azimuth="150" elevation="-20" realtime="1"/> | ||
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| </visual> | ||
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| <asset> | ||
| <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/> | ||
| <texture builtin="checker" height="100" name="texplane" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" | ||
| type="2d" width="200"/> | ||
| <material name="MatPlane" reflectance="0.1" shininess="0.4" specular="1" texrepeat="5 5" texuniform="true" | ||
| texture="texplane"/> | ||
| </asset> | ||
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| <worldbody> | ||
| <light name="spotlight" mode="targetbody" target="base_link" pos="1 0 10"/> | ||
| <geom name="floor" pos="0 0 -0.99" size="0 0 1" type="plane" material="MatPlane" contype="1" conaffinity="1"/> | ||
| </worldbody> | ||
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| </mujoco> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,25 @@ | ||
| <mujoco model="tiago dual velocity scene"> | ||
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| <include file="tiago_dual_velocity.xml"/> | ||
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| <visual> | ||
| <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/> | ||
| <rgba haze="0.15 0.25 0.35 1"/> | ||
| <global azimuth="150" elevation="-20" realtime="1"/> | ||
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| </visual> | ||
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| <asset> | ||
| <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/> | ||
| <texture builtin="checker" height="100" name="texplane" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" | ||
| type="2d" width="200"/> | ||
| <material name="MatPlane" reflectance="0.1" shininess="0.4" specular="1" texrepeat="5 5" texuniform="true" | ||
| texture="texplane"/> | ||
| </asset> | ||
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| <worldbody> | ||
| <light name="spotlight" mode="targetbody" target="base_link" pos="1 0 10"/> | ||
| <geom name="floor" pos="0 0 -0.99" size="0 0 1" type="plane" material="MatPlane" contype="1" conaffinity="1"/> | ||
| </worldbody> | ||
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| </mujoco> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,40 @@ | ||
| <mujoco model="tiago_dual"> | ||
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| <include file="tiago_dual.xml"/> | ||
| <actuator> | ||
| <!-- Omni base actuators --> | ||
| <velocity name="wheel_front_right_joint_velocity" joint="wheel_front_right_joint" kv="2000" forcerange="-400.0 400.0" /> | ||
| <velocity name="wheel_front_left_joint_velocity" joint="wheel_front_left_joint" kv="2000" forcerange="-400.0 400.0" /> | ||
| <velocity name="wheel_rear_right_joint_velocity" joint="wheel_rear_right_joint" kv="2000" forcerange="-400.0 400.0" /> | ||
| <velocity name="wheel_rear_left_joint_velocity" joint="wheel_rear_left_joint" kv="2000" forcerange="-400.0 400.0" /> | ||
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| <!-- Torso actuator --> | ||
| <position name="torso_lift_joint_position" joint="torso_lift_joint" kp="50000" ctrlrange="0 0.35" forcerange="-2000 2000" /> | ||
| <!-- Head actuators --> | ||
| <position name="head_1_joint_position" joint="head_1_joint" kp="20" ctrlrange="-1.3089969389957472 1.3089969389957472" forcerange="-5.197 5.197" /> | ||
| <position name="head_2_joint_position" joint="head_2_joint" kp="20" ctrlrange="-1.0471975511965976 0.7853981633974483" forcerange="-2.77 2.77" /> | ||
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| <!-- Left arm actuators --> | ||
| <motor name="arm_left_1_joint_torque" joint="arm_left_1_joint" forcerange="-43.0 43.0" /> | ||
| <motor name="arm_left_2_joint_torque" joint="arm_left_2_joint" forcerange="-43.0 43.0" /> | ||
| <motor name="arm_left_3_joint_torque" joint="arm_left_3_joint" forcerange="-26 26" /> | ||
| <motor name="arm_left_4_joint_torque" joint="arm_left_4_joint" forcerange="-26 26" /> | ||
| <motor name="arm_left_5_joint_torque" joint="arm_left_5_joint" forcerange="-3 3" /> | ||
| <motor name="arm_left_6_joint_torque" joint="arm_left_6_joint" forcerange="-6.6 6.6" /> | ||
| <motor name="arm_left_7_joint_torque" joint="arm_left_7_joint" forcerange="-6.6 6.6" /> | ||
| <position name="gripper_left_left_finger_joint_position" joint="gripper_left_left_finger_joint" kp="500" ctrlrange="0 0.045" /> | ||
| <position name="gripper_left_right_finger_joint_position" joint="gripper_left_right_finger_joint" kp="500" ctrlrange="0 0.045" /> | ||
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| <!-- Right arm actuators --> | ||
| <motor name="arm_right_1_joint_torque" joint="arm_right_1_joint" forcerange="-43.0 43.0" /> | ||
| <motor name="arm_right_2_joint_torque" joint="arm_right_2_joint" forcerange="-43.0 43.0" /> | ||
| <motor name="arm_right_3_joint_torque" joint="arm_right_3_joint" forcerange="-26 26" /> | ||
| <motor name="arm_right_4_joint_torque" joint="arm_right_4_joint" forcerange="-26 26" /> | ||
| <motor name="arm_right_5_joint_torque" joint="arm_right_5_joint" forcerange="-3 3" /> | ||
| <motor name="arm_right_6_joint_torque" joint="arm_right_6_joint" forcerange="-6.6 6.6" /> | ||
| <motor name="arm_right_7_joint_torque" joint="arm_right_7_joint" forcerange="-6.6 6.6" /> | ||
| <position name="gripper_right_left_finger_joint_position" joint="gripper_right_left_finger_joint" kp="500" ctrlrange="0 0.045"/> | ||
| <position name="gripper_right_right_finger_joint_position" joint="gripper_right_right_finger_joint" kp="500" ctrlrange="0.0 0.045"/> | ||
| </actuator> | ||
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| </mujoco> |
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