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syncing differences with ur_mobile_manipulation #15

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8 changes: 4 additions & 4 deletions mujoco_assets/robotiq_2f85/robotiq2f85_globals.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -46,7 +46,7 @@
forcerange="-5 5"
ctrlrange="0 .8"
gainprm="100 0 0"
biasprm="0 -100 -25"
biasprm="0 -100 -150"
/>
</actuator>

Expand Down Expand Up @@ -244,12 +244,12 @@
</default>
<default class="robot">
<material specular="0.5" shininess="0.25" />
<joint armature="1.0" damping="0.75" axis="0 0 1" range="-3 3" />
<joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
<general
dyntype="none"
biastype="affine"
ctrlrange="-3 3"
forcerange="-5000 5000"
ctrlrange="-3.14159 3.14159"
forcerange="-50000 50000"
/>
<default class="limitedJoints">
<joint limited="true" />
Expand Down
36 changes: 32 additions & 4 deletions mujoco_assets/ur5e/ur5e_globals.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -41,16 +41,44 @@
class="size3"
name="shoulder_pan_joint"
joint="shoulder_pan_joint"
gainprm="75000"
biasprm="0 -75000 -15000"
/>
<general
class="size3"
name="shoulder_lift_joint"
joint="shoulder_lift_joint"
gainprm="75000"
biasprm="0 -75000 -15000"
/>
<general
class="size3_limited"
name="elbow_joint"
joint="elbow_joint"
gainprm="75000"
biasprm="0 -75000 -15000"
/>
<general
class="size3"
name="wrist_1_joint"
joint="wrist_1_joint"
gainprm="50000"
biasprm="0 -50000 -10000"
/>
<general
class="size3"
name="wrist_2_joint"
joint="wrist_2_joint"
gainprm="50000"
biasprm="0 -50000 -10000"
/>
<general
class="size3"
name="wrist_3_joint"
joint="wrist_3_joint"
gainprm="50000"
biasprm="0 -50000 -10000"
/>
<general class="size3_limited" name="elbow_joint" joint="elbow_joint" />
<general class="size1" name="wrist_1_joint" joint="wrist_1_joint" />
<general class="size1" name="wrist_2_joint" joint="wrist_2_joint" />
<general class="size1" name="wrist_3_joint" joint="wrist_3_joint" />
</actuator>

<contact>
Expand Down