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fix: added kp, kv positional actuator gains, increased force range
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s1lent4gnt committed Jan 5, 2025
1 parent 07e8003 commit 59dc6ed
Showing 1 changed file with 6 additions and 6 deletions.
12 changes: 6 additions & 6 deletions gym_lowcostrobot/assets/low_cost_robot_6dof/follower.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -110,12 +110,12 @@
</contact>

<actuator>
<position class="follower" name="joint_1" joint="joint_1"/>
<position class="follower" name="joint_2" joint="joint_2"/>
<position class="follower" name="joint_3" joint="joint_3"/>
<position class="follower" name="joint_4" joint="joint_4"/>
<position class="follower" name="joint_5" joint="joint_5"/>
<position class="follower" name="joint_6" joint="joint_6"/>
<position class="follower" name="joint_1" joint="joint_1" kp="100" kv="10" forcerange="-250 250"/>
<position class="follower" name="joint_2" joint="joint_2" kp="100" kv="10" forcerange="-150 150"/>
<position class="follower" name="joint_3" joint="joint_3" kp="100" kv="10" forcerange="-150 150"/>
<position class="follower" name="joint_4" joint="joint_4" kp="100" kv="10" forcerange="-150 150"/>
<position class="follower" name="joint_5" joint="joint_5" kp="10" kv="1" forcerange="-10 10"/>
<position class="follower" name="joint_6" joint="joint_6" kp="10" kv="1" forcerange="-2 2"/>
</actuator>

</mujoco>

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