18 lines
816 B
Plaintext
18 lines
816 B
Plaintext
motor {
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id: "mujoco_motors"
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motor_groups {
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id: "right_arm_mujoco"
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bus_type: MOTOR_BUS_MUJOCO
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tool_frame: "R_FINGER_TIP"
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motors { id: 1 joint_name: "R_SHOULDER_P" limit_q_lb: -3.14 limit_q_ub: 3.14 limit_qd: 3.0 }
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motors { id: 2 joint_name: "R_SHOULDER_R" limit_q_lb: -3.14 limit_q_ub: 3.14 limit_qd: 3.0 }
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motors { id: 3 joint_name: "R_SHOULDER_Y" limit_q_lb: -3.14 limit_q_ub: 3.14 limit_qd: 3.0 }
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motors { id: 4 joint_name: "R_ELBOW_R" limit_q_lb: -3.14 limit_q_ub: 3.14 limit_qd: 3.0 }
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motors { id: 5 joint_name: "R_WRIST_P" limit_q_lb: -3.14 limit_q_ub: 3.14 limit_qd: 3.0 }
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motors { id: 6 joint_name: "R_WRIST_Y" limit_q_lb: -1.102 limit_q_ub: 1.02 limit_qd: 3.0 }
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motors { id: 7 joint_name: "R_WRIST_R" limit_q_lb: -0.293 limit_q_ub: 1.57079 limit_qd: 3.0 }
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}
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}
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