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gym/envs/robotics/assets/fetch/random_obj_xml/743_peg.xml
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Algorithmic-Alignment-Lab/openTAMP-legacy
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opentamp/robot_info/bak_lidar_arm.xml
Algorithmic-Alignment-Lab/OpenTAMP
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Algorithmic-Alignment-Lab/OpenTAMP
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Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/7986_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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null
null
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gym/envs/robotics/assets/fetch/random_obj_xml/7986_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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null
null
null
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mujoco/all_envs/walker/assets/walker2d_27.9.xml
EvieQ01/Learning-Feasibility-Different-Dynamics
73786b11137b8ba9840d00ec4d258c1296b0a595
[ "MIT" ]
null
null
null
mujoco/all_envs/walker/assets/walker2d_27.9.xml
EvieQ01/Learning-Feasibility-Different-Dynamics
73786b11137b8ba9840d00ec4d258c1296b0a595
[ "MIT" ]
null
null
null
mujoco/all_envs/walker/assets/walker2d_27.9.xml
EvieQ01/Learning-Feasibility-Different-Dynamics
73786b11137b8ba9840d00ec4d258c1296b0a595
[ "MIT" ]
null
null
null
<mujoco model="walker2d"> <compiler angle="degree" coordinate="global" inertiafromgeom="true"/> <default> <joint armature="0.01" damping=".1" limited="true"/> <geom conaffinity="0" condim="3" contype="1" density="1000" friction=".7 .1 .1" rgba="0.8 0.6 .4 1"/> </default> <option integrator="RK4" timestep="0.002"/> <worldbody> <light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/> <geom conaffinity="1" condim="3" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane" material="MatPlane"/> <body name="torso" pos="0 0 1.25"> <camera name="track" mode="trackcom" pos="0 -3 1" xyaxes="1 0 0 0 0 1"/> <joint armature="0" axis="1 0 0" damping="0" limited="false" name="rootx" pos="0 0 0" stiffness="0" type="slide"/> <joint armature="0" axis="0 0 1" damping="0" limited="false" name="rootz" pos="0 0 0" ref="1.25" stiffness="0" type="slide"/> <joint armature="0" axis="0 1 0" damping="0" limited="false" name="rooty" pos="0 0 1.25" stiffness="0" type="hinge"/> <geom friction="0.9" fromto="0 0 1.45 0 0 1.05" name="torso_geom" size="0.05" type="capsule"/> <body name="thigh" pos="0 0 1.05"> <joint axis="0 -1 0" name="thigh_joint" pos="0 0 1.05" range="-150 0" type="hinge"/> <geom friction="0.9" fromto="0 0 1.05 0 0 0.6" name="thigh_geom" size="0.05" type="capsule"/> <body name="leg" pos="0 0 0.35"> <joint axis="0 -1 0" name="leg_joint" pos="0 0 0.6" range="-150 0" type="hinge"/> <geom friction="0.9" fromto="0 0 0.6 0 0 0.1" name="leg_geom" size="0.04" type="capsule"/> <body name="foot" pos="0.2/2 0 0.1"> <joint axis="0 -1 0" name="foot_joint" pos="0 0 0.1" range="-45 45" type="hinge"/> <geom friction="27.9" fromto="-0.0 0 0.1 0.2 0 0.1" name="foot_geom" size="0.06" type="capsule"/> </body> </body> </body> <!-- copied and then replace thigh->thigh_left, leg->leg_left, foot->foot_right --> <body name="thigh_left" pos="0 0 1.05"> <joint axis="0 -1 0" name="thigh_left_joint" pos="0 0 1.05" range="-150 0" type="hinge"/> <geom friction="0.9" fromto="0 0 1.05 0 0 0.6" name="thigh_left_geom" rgba=".7 .3 .6 1" size="0.05" type="capsule"/> <body name="leg_left" pos="0 0 0.35"> <joint axis="0 -1 0" name="leg_left_joint" pos="0 0 0.6" range="-150 0" type="hinge"/> <geom friction="0.9" fromto="0 0 0.6 0 0 0.1" name="leg_left_geom" rgba=".7 .3 .6 1" size="0.04" type="capsule"/> <body name="foot_left" pos="0.2/2 0 0.1"> <joint axis="0 -1 0" name="foot_left_joint" pos="0 0 0.1" range="-45 45" type="hinge"/> <geom friction="27.9" fromto="-0.0 0 0.1 0.2 0 0.1" name="foot_left_geom" rgba=".7 .3 .6 1" size="0.06" type="capsule"/> </body> </body> </body> </body> </worldbody> <actuator> <!-- <motor joint="torso_joint" ctrlrange="-100.0 100.0" isctrllimited="true"/>--> <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="thigh_joint"/> <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="leg_joint"/> <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="foot_joint"/> <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="thigh_left_joint"/> <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="leg_left_joint"/> <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="foot_left_joint"/> <!-- <motor joint="finger2_rot" ctrlrange="-20.0 20.0" isctrllimited="true"/>--> </actuator> <asset> <texture type="skybox" builtin="gradient" rgb1=".4 .5 .6" rgb2="0 0 0" width="100" height="100"/> <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/> <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/> <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/> <material name="geom" texture="texgeom" texuniform="true"/> </asset> </mujoco>
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XML
gym/envs/robotics/assets/fetch/random_obj_xml/5978_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/5978_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/5978_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/597/597.stl" name="obj0" scale="0.0033818941656740607 0.0033818941656740607 0.0033818941656740607" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table" pos="1.3 0.75 0.2"> <joint damping="0.01" name="table:joint" type="free" /> <geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" /> <body name="switch" pos="0.02188349482030748 0.02442932218318485 0.2076287568016847"> <joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" /> </body> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> </mujoco>
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XML
gym/envs/robotics/assets/fetch/random_obj_xml/8006_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/8006_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/8006_peg.xml
Jekyll1021/gym
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gym/envs/robotics/assets/fetch/random_obj_xml/8273_peg.xml
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NagisaZj/ac-teach
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NagisaZj/ac-teach
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NagisaZj/ac-teach
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geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/> <!--<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>--> <!--<pair geom1="//unnamed_geom_8" geom2="tabletop" friction="1 1 0.005 0.0001 0.0001" />--> <!-- <pair geom1="//unnamed_geom_9" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> --> </contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="10000" name="herb/wam_1/p_j1_base_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="10000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/> <position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="10000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/> <position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="10000" name="herb/wam_1/p_j4_elbow_pitch_joint"/> <position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/> <position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/> <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" /> <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" /> <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" /> <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" /> <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" /> <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>--> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/> <!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/> <position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/> <position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/> <position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/> <position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>--> </actuator> </mujoco>
119.745683
943
0.683159
2f7faa3e7921f857ae45b8f49c904258e776412d
79,297
xml
XML
herb_reconf/cluttered_scenes/hard_pushing_021_bleach_cleanser_0_0.2_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/hard_pushing_021_bleach_cleanser_0_0.2_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/hard_pushing_021_bleach_cleanser_0_0.2_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
<?xml version="1.0" ?><mujoco model="scene"> <compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/> <option apirate="50" collision="predefined" cone="elliptic" impratio="5" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/> <size nconmax="10000" njmax="10000"/> <visual> <global offheight="800" offwidth="800"/> <quality shadowsize="2048"/> <headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/> <map force="0.1" zfar="30.0"/> <rgba haze="0.1499999 0.25 0.3499998 1"/> </visual> <statistic center="0.2 0 0.5" extent="10.0"/> <default> <default class="/"/> <default class="geom0"> <geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/> </default> <default class="herb/"> <joint damping="1.0"/> <default class="herb/viz"> <geom conaffinity="0" contype="0" group="1"/> </default> </default> <default 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class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/> <geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/> <geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/> <body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0"> <inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/> <joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/> <body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683"> <inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/> <joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/> </body> </body> </body> <body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5"> <inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/> <joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/> <body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683"> <inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/> <joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body>--> </body> <light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/> </body> <!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998"> <geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/> <joint name="//unnamed_joint_2" class="/" type="free"/> </body> <body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998"> <geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/> <joint name="//unnamed_joint_3" class="/" type="free"/> </body> <body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998"> <geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/> <joint name="//unnamed_joint_4" class="/" type="free"/> </body> --> <!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998"> <geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/> <joint name="//unnamed_joint_5" class="/" type="free"/> </body>--> <!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998"> <geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/> <joint name="//unnamed_joint_6" class="/" type="free"/> </body>--> <!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998"> <geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325"> <geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/> <joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/> </body> <body name="target_obj" pos="0 0.0 0.325"> <geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/> </body>--> <!--<body name="gen_body_0" pos="0 0.0 0.3549998"> <geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/> <joint name="//unnamed_joint_0" class="/" type="free"/> </body>--> <!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998"> <geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/> </body>--> <!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!-- <body name="virt_box_2" pos="0 .45 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/> </body> <body name="virt_box_3" pos="0 0.57243499223068691 0.3549998"> <geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/> </body> --> <body euler="0 0 5.962082830454634" name="gen_body_0" pos="0 0 0.300452000007499"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.2829351827473213 0.3518856710600422 0.3582157459009314 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 3.54544945568029" name="gen_body_gadded_1" pos="0.16524318556647796 0.0 0.30254132993054667"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.09079106602191256 0.4624787352270274 0.30288530804039904 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 1.3552426094472185" name="gen_body_gadded_2" pos="0.2840253540407157 -0.19280854651964224 0.29666029214014267"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.1338672224851316 0.2193064542959775 0.1784280451835618 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body></worldbody> <contact> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/> <!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> --> <!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/> <exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/> <exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/> <exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/> <exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/> <exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/> <exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/> <exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>--> </contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/> <position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/> <position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/> <position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/> <position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/> <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" /> <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" /> <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" /> <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" /> <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" /> <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>--> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/> <!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/> <position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/> <position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/> <position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/> <position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>--> </actuator> </mujoco>
115.931287
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2f8133cfba4ff34f7a13b19b7a5e035040c7b947
1,777
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/3701_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/3701_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/3701_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/370/370.stl" name="obj0" scale="0.0034979496743146156 0.0034979496743146156 0.0034979496743146156" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table0" pos="1.3 0.75 0.2"> <geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" /> </body> <body name="object0" pos="0.021426547314077532 0.023570937378318713 0.013478387133810936"> <joint damping="0.01" name="object0:joint" type="free" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="object0" pos="-0.00023993713551641034 -0.000883900818494211 8.167335081670982e-05" rgba="1 0 0 0" size="0.010713273657038766 0.011785468689159357 0.006739193566905468" type="ellipsoid" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
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xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/7262_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/7262_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/7262_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/726/726.stl" name="obj0" scale="0.006183132800166945 0.006183132800166945 0.006183132800166945" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table0" pos="1.3 0.75 0.17"> <geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" /> </body> <body name="table_top" pos="1.3 0.75 0.36"> <joint damping="0.01" name="table_top:joint" type="free" /> <geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" /> <site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <body name="object0" pos="0.025800370601522214 0.04 0.029919833364571036" zaxis="1.0 0.0 0.0"> <joint damping="0.01" name="object0:joint" type="free" /> <geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="1.0 0.0 0.0" /> <geom condim="3" mass="2" material="block_mat" pos="0.010845101764655005 -0.02373719120213189 0.031584882547504814" size="0.01592774842062209 0.015266885237597567 0.054883988156194496" type="box" zaxis="1.0 0.0 0.0" /> <site name="object0" pos="-0.0017682857125375271 -0.010098610059778254 0.002501264992832532" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> <site name="handle0" pos="0.010845101764655005 -0.02373719120213189 0.021584882547504815" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
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xml
XML
herb_reconf/cluttered_scenes/easy_pushing_lamp_1_4_0.6_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/easy_pushing_lamp_1_4_0.6_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/easy_pushing_lamp_1_4_0.6_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
<?xml version="1.0" ?><mujoco model="scene"> <compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/> <option apirate="50" collision="predefined" cone="elliptic" impratio="5" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/> <size nconmax="10000" njmax="10000"/> <visual> <global offheight="800" offwidth="800"/> <quality shadowsize="2048"/> <headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/> <map force="0.1" zfar="30.0"/> <rgba haze="0.1499999 0.25 0.3499998 1"/> </visual> <statistic center="0.2 0 0.5" extent="10.0"/> <default> <default class="/"/> <default class="geom0"> <geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/> </default> <default class="herb/"> <joint damping="1.0"/> <default class="herb/viz"> <geom conaffinity="0" contype="0" group="1"/> </default> </default> <default 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mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/> <joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body>--> </body> <light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/> </body> <!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998"> <geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/> <joint 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pos="-0.19039386433968011 0.04115471291830413 0.3549998"> <geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/> <joint name="//unnamed_joint_6" class="/" type="free"/> </body>--> <!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998"> <geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325"> <geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/> <joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/> </body> <body name="target_obj" pos="0 0.0 0.325"> <geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/> </body>--> <!--<body name="gen_body_0" pos="0 0.0 0.3549998"> <geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/> <joint name="//unnamed_joint_0" class="/" type="free"/> </body>--> <!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998"> <geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/> </body>--> <!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!-- <body name="virt_box_2" pos="0 .45 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/> </body> <body name="virt_box_3" pos="0 0.57243499223068691 0.3549998"> <geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/> </body> --> <body euler="0 0 2.2735012703930844" name="gen_body_0" pos="-0.05 -0.35 0.5644323110580445"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.027484041188575503 0.44075218865157606 0.42471123105252684 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 4.9187603458881535" name="gen_body_gadded_1" pos="0.35496018901989695 -0.15149136908045016 0.30941373115019893"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.6109214427251185 0.7112489019127252 0.5701165207348159 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 1.6066636287663638" name="gen_body_gadded_2" pos="-0.08805970879246228 -0.5452587833863507 0.3029353592558546"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.3467940413569095 0.5669308789941798 0.17771160614313664 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 3.7940757987376905" name="gen_body_gadded_3" pos="-0.3462849747930104 -0.21428407031792027 0.30013916776640387"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.6196485115896107 0.08292806054724189 0.11819290219358503 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 3.593225128506772" name="gen_body_gadded_4" pos="-0.32688361446542846 -0.39772054551741126 0.3003790860042771"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.958320658629491 0.8450207984069451 0.6732350871230263 1" type="mesh"/><joint class="/" name="gen_joint_gadded_4" type="free"/></body></worldbody> <contact> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" 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0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_3" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/> <position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/> <position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/> <position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/> <position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/> <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" /> <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" /> <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" /> <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" /> <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" /> <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>--> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/> <!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/> <position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/> <position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/> <position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/> <position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>--> </actuator> </mujoco>
145.362573
19,113
0.691485
2f8578c268c5ea36851737b86271f06bacb84d8a
2,713
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/8106_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/8106_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/8106_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
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herb_reconf/cluttered_scenes/grasping_trophy_1_0_0.5_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
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null
null
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herb_reconf/cluttered_scenes/grasping_trophy_1_0_0.5_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/grasping_trophy_1_0_0.5_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
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class="/" name="gen_joint_gadded_4" type="free"/></body><body euler="0 0 3.714062906938899" name="gen_body_gadded_5" pos="0.11213739897702821 0.5245647557624118 0.309359151142979"><geom class="/" mesh="gen_mesh_gadded_5" name="gen_geom_gadded_5" rgba="0.34639978182454134 0.5001009859077398 0.11139003241574919 1" type="mesh"/><joint class="/" name="gen_joint_gadded_5" type="free"/></body></worldbody> <contact> <!--<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="box_geom_0" geom2="table_plane"/>--> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/> <!--<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>--> <!--<pair geom1="//unnamed_geom_8" geom2="tabletop" friction="1 1 0.005 0.0001 0.0001" />--> <!-- <pair geom1="//unnamed_geom_9" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> --> </contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="10000" name="herb/wam_1/p_j1_base_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="10000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/> <position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="10000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/> <position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="10000" name="herb/wam_1/p_j4_elbow_pitch_joint"/> <position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/> <position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/> <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" /> <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" /> <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" /> <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" /> <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" /> <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>--> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/> <!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/> <position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/> <position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/> <position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/> <position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>--> </actuator> </mujoco>
122.11303
1,947
0.685496
2f8927922aea9430143f7278f32daabbcf9a457c
1,767
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/7459_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/7459_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/7459_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/745/745.stl" name="obj0" scale="0.006507334662698065 0.006507334662698065 0.006507334662698065" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table0" pos="1.3 0.75 0.2"> <geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" /> </body> <body name="object0" pos="0.02038905101955408 0.05851618204910297 0.03460196468140277"> <joint damping="0.01" name="object0:joint" type="free" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="object0" pos="9.083103284600157e-05 -0.009084349091596168 0.003084121214622245" rgba="1 0 0 0" size="0.01019452550977704 0.029258091024551486 0.017300982340701387" type="ellipsoid" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
43.097561
198
0.670062
2f8948e41e81589fd148252af4c76e2a54026302
2,723
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/6345_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/6345_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/6345_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/634/634.stl" name="obj0" scale="0.0068862472861729845 0.0068862472861729845 0.0068862472861729845" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table0" pos="1.3 0.75 0.17"> <geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" /> </body> <body name="table_top" pos="1.3 0.75 0.36"> <joint damping="0.01" name="table_top:joint" type="free" /> <geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" /> <site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <body name="object0" pos="0.01783812808385521 0.04 0.031899015249422465" zaxis="1.0 0.0 0.0"> <joint damping="0.01" name="object0:joint" type="free" /> <geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="1.0 0.0 0.0" /> <geom condim="3" mass="2" material="block_mat" pos="0.0018211501101922894 -0.004199794642940948 0.03534674887228052" size="0.028919802768662267 0.016971783710037557 0.04937118564130646" type="box" zaxis="1.0 0.0 0.0" /> <site name="object0" pos="-0.0006265973196731239 -0.0071748413537048245 0.0038136913148292735" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> <site name="handle0" pos="0.0018211501101922894 -0.004199794642940948 0.02534674887228052" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
50.425926
222
0.65773
2f899a246e7aea1a52fd64da4465b76fcd192447
5,238
xml
XML
assets/fetch_complex_objects/fetch/train_scene_hook_668.xml
NagisaZj/ac-teach
481811d5c80d0dbee54f16c063b4ea3262b82050
[ "MIT" ]
19
2019-10-19T09:05:08.000Z
2022-01-27T13:36:37.000Z
assets/fetch_complex_objects/fetch/train_scene_hook_668.xml
NagisaZj/ac-teach
481811d5c80d0dbee54f16c063b4ea3262b82050
[ "MIT" ]
13
2019-12-07T12:47:20.000Z
2022-01-13T01:44:35.000Z
assets/fetch_complex_objects/fetch/train_scene_hook_668.xml
NagisaZj/ac-teach
481811d5c80d0dbee54f16c063b4ea3262b82050
[ "MIT" ]
8
2019-10-24T23:36:58.000Z
2022-01-27T13:36:39.000Z
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herb_reconf/cluttered_scenes/hard_pushing_010_potted_meat_can_3_0.6_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/hard_pushing_010_potted_meat_can_3_0.6_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/hard_pushing_010_potted_meat_can_3_0.6_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
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0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/> <!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> --> <!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/> <exclude 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body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/> <exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/> <exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/> <exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/> <exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/> <exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/> <exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/> <exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>--> <pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_0" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/> <position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/> <position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/> <position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/> <position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/> <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" /> <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" /> <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" /> <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" /> <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" /> <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>--> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/> <!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/> <position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/> <position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/> <position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/> <position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>--> </actuator> </mujoco>
131.951754
10,958
0.688494
2f8a5985b6d30c03599c3aede0755a7841d86423
1,762
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/8339_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/8339_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/8339_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/833/833.stl" name="obj0" scale="0.01615727597081846 0.01615727597081846 0.01615727597081846" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table0" pos="1.3 0.75 0.2"> <geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" /> </body> <body name="object0" pos="0.03870037596630753 0.09143084981413338 0.03469131955149626"> <joint damping="0.01" name="object0:joint" type="free" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="object0" pos="0.0070255778841664986 0.005434911837233426 0.004014686512758131" rgba="1 0 0 0" size="0.019350187983153765 0.04571542490706669 0.01734565977574813" type="ellipsoid" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
42.97561
196
0.670261
2f8c0cfc5382cb9b51c6824d22db00c1f95d5367
1,469
xml
XML
gym/envs/robotics/assets/myUR5/include/robot_assets.xml
timofriedl/multicam-ihgg
f52659a1bb38369b6e2ac62261cc9c65fbc3ca80
[ "MIT" ]
5
2020-04-30T19:42:05.000Z
2020-08-01T19:29:58.000Z
gym/envs/robotics/assets/myUR5/include/robot_assets.xml
timofriedl/multicam-ihgg
f52659a1bb38369b6e2ac62261cc9c65fbc3ca80
[ "MIT" ]
5
2020-09-26T01:30:01.000Z
2022-01-13T03:15:42.000Z
gym/envs/robotics/assets/myUR5/include/robot_assets.xml
timofriedl/multicam-ihgg
f52659a1bb38369b6e2ac62261cc9c65fbc3ca80
[ "MIT" ]
2
2021-06-19T03:10:56.000Z
2021-07-20T20:37:32.000Z
<mujocoinclude> <mesh name="robotiq_85_base_link_coarse" file="stl_files/robotiq_85_base_link_coarse.STL" /> <mesh name="inner_knuckle_coarse" file="stl_files/inner_knuckle_coarse.STL" /> <mesh name="inner_finger_coarse" file="stl_files/inner_finger_coarse.STL" /> <mesh name="outer_knuckle_coarse" file="stl_files/outer_knuckle_coarse.STL" /> <mesh name="outer_finger_coarse" file="stl_files/outer_finger_coarse.STL" /> <mesh name="body-collision" file="stl_files/body-collision.stl" /> <mesh name="top" file="stl_files/top.stl" /> <mesh name="ur5_base" file="stl_files/ur5_base.stl" /> <mesh name="shoulder" file="stl_files/shoulder.stl" /> <mesh name="upperarm" file="stl_files/upperarm.stl" /> <mesh name="forearm" file="stl_files/forearm.stl" /> <mesh name="wrist1" file="stl_files/wrist1.stl" /> <mesh name="wrist2" file="stl_files/wrist2.stl" /> <mesh name="wrist3" file="stl_files/wrist3.stl" /> <mesh name="base" file="stl_files/base.stl" scale="0.001 0.001 0.001" /> <mesh name="driver" file="stl_files/driver.stl" scale="0.001 0.001 0.001" /> <mesh name="coupler" file="stl_files/coupler.stl" scale="0.001 0.001 0.001" /> <mesh name="follower" file="stl_files/follower.stl" scale="0.001 0.001 0.001" /> <mesh name="pad" file="stl_files/pad.stl" scale="0.001 0.001 0.001" /> <mesh name="spring_link" file="stl_files/spring_link.stl" scale="0.001 0.001 0.001" /> </mujocoinclude>
63.869565
96
0.698434
2f8c708e1d75b8b8e3d0a2b48aa73f8424b17b48
4,804
xml
XML
metagym/metalocomotion/envs/assets/ants/ant_var_tra_201.xml
WorldEditors/RLSchool
a368937ab23c8d56f8b46d6c2de74d607d7a12bb
[ "Apache-2.0" ]
null
null
null
metagym/metalocomotion/envs/assets/ants/ant_var_tra_201.xml
WorldEditors/RLSchool
a368937ab23c8d56f8b46d6c2de74d607d7a12bb
[ "Apache-2.0" ]
null
null
null
metagym/metalocomotion/envs/assets/ants/ant_var_tra_201.xml
WorldEditors/RLSchool
a368937ab23c8d56f8b46d6c2de74d607d7a12bb
[ "Apache-2.0" ]
null
null
null
<mujoco model="ant"> <compiler angle="degree" coordinate="local" inertiafromgeom="true" /> <option integrator="RK4" timestep="0.01" /> <custom> <numeric data="0.0 0.0 0.55 1.0 0.0 0.0 0.0 0.0 1.0 0.0 -1.0 0.0 -1.0 0.0 1.0" name="init_qpos" /> </custom> <default> <joint armature="1" damping="1" limited="true" /> <geom conaffinity="0" condim="3" density="5.0" friction="1.5 0.1 0.1" margin="0.01" rgba="0.8 0.6 0.4 1" /> </default> <worldbody> <body name="torso" pos="0 0 0.75"> <geom name="torso_geom" pos="0 0 0" size="0.25" type="sphere" /> <body name="front_left_leg" pos="0 0 0"> <geom fromto="0.0 0.0 0.0 0.25992011548981847 0.25992011548981847 0.0" name="aux_1_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1" /> <body name="aux_1" pos="0.25992011548981847 0.25992011548981847 0.0"> <joint axis="0 0 1" name="hip_1" pos="0.0 0.0 0.0" range="-40 40" type="hinge" /> <geom fromto="0.0 0.0 0.0 0.22042609548414016 0.22042609548414016 0.0" name="left_leg_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1" /> <body pos="0.22042609548414016 0.22042609548414016 0.0" name="front_left_foot"> <joint axis="-1 1 0" name="ankle_1" pos="0.0 0.0 0.0" range="30 100" type="hinge" /> <geom fromto="0.0 0.0 0.0 0.41546246862613057 0.41546246862613057 0.0" name="left_ankle_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1" /> </body> </body> </body> <body name="front_right_leg" pos="0 0 0"> <geom fromto="0.0 0.0 0.0 -0.29981506862866963 0.29981506862866963 0.0" name="aux_2_geom" size="0.08" type="capsule" /> <body name="aux_2" pos="-0.29981506862866963 0.29981506862866963 0.0"> <joint axis="0 0 1" name="hip_2" pos="0.0 0.0 0.0" range="-40 40" type="hinge" /> <geom fromto="0.0 0.0 0.0 -0.21385703827154787 0.21385703827154787 0.0" name="right_leg_geom" size="0.08" type="capsule" /> <body pos="-0.21385703827154787 0.21385703827154787 0.0" name="front_right_foot"> <joint axis="1 1 0" name="ankle_2" pos="0.0 0.0 0.0" range="-100 -30" type="hinge" /> <geom fromto="0.0 0.0 0.0 -0.28878518681694776 0.28878518681694776 0.0" name="right_ankle_geom" size="0.08" type="capsule" /> </body> </body> </body> <body name="left_back_leg" pos="0 0 0"> <geom fromto="0.0 0.0 0.0 -0.2957835711239705 -0.2957835711239705 0.0" name="aux_3_geom" size="0.08" type="capsule" /> <body name="aux_3" pos="-0.2957835711239705 -0.2957835711239705 0.0"> <joint axis="0 0 1" name="hip_3" pos="0.0 0.0 0.0" range="-40 40" type="hinge" /> <geom fromto="0.0 0.0 0.0 -0.2744706649620497 -0.2744706649620497 0.0" name="back_leg_geom" size="0.08" type="capsule" /> <body pos="-0.2744706649620497 -0.2744706649620497 0.0" name="left_back_foot"> <joint axis="-1 1 0" name="ankle_3" pos="0.0 0.0 0.0" range="-100 -30" type="hinge" /> <geom fromto="0.0 0.0 0.0 -0.3289568630922321 -0.3289568630922321 0.0" name="third_ankle_geom" size="0.08" type="capsule" /> </body> </body> </body> <body name="right_back_leg" pos="0 0 0"> <geom fromto="0.0 0.0 0.0 0.2758194626667156 -0.2758194626667156 0.0" name="aux_4_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1" /> <body name="aux_4" pos="0.2758194626667156 -0.2758194626667156 0.0"> <joint axis="0 0 1" name="hip_4" pos="0.0 0.0 0.0" range="-40 40" type="hinge" /> <geom fromto="0.0 0.0 0.0 0.17746465213361315 -0.17746465213361315 0.0" name="rightback_leg_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1" /> <body pos="0.17746465213361315 -0.17746465213361315 0.0" name="right_back_foot"> <joint axis="1 1 0" name="ankle_4" pos="0.0 0.0 0.0" range="30 100" type="hinge" /> <geom fromto="0.0 0.0 0.0 0.32914991920114367 -0.32914991920114367 0.0" name="fourth_ankle_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1" /> </body> </body> </body> </body> </worldbody> <actuator> <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_4" gear="150" /> <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_4" gear="150" /> <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_1" gear="150" /> <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_1" gear="150" /> <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_2" gear="150" /> <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_2" gear="150" /> <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_3" gear="150" /> <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_3" gear="150" /> </actuator> </mujoco>
67.661972
156
0.609284
2f8ca4945e926add07e064a0c240280c9d176a80
11,886
xml
XML
assets/mjcf/nv_humanoid.xml
Tbarkin121/Tensegrity_IsaacGym
0b6b5227e76b18396862c242a4e8e743248844b3
[ "MIT" ]
317
2021-09-08T01:28:49.000Z
2022-03-31T07:52:36.000Z
assets/mjcf/nv_humanoid.xml
Tbarkin121/Tensegrity_IsaacGym
0b6b5227e76b18396862c242a4e8e743248844b3
[ "MIT" ]
24
2021-11-05T14:15:47.000Z
2022-03-31T11:58:18.000Z
assets/mjcf/nv_humanoid.xml
Tbarkin121/Tensegrity_IsaacGym
0b6b5227e76b18396862c242a4e8e743248844b3
[ "MIT" ]
58
2021-10-31T07:15:43.000Z
2022-03-29T14:51:02.000Z
<mujoco model="humanoid"> <statistic extent="2" center="0 0 1"/> <option timestep="0.00555"/> <default> <motor ctrlrange="-1 1" ctrllimited="true"/> <default class="body"> <geom type="capsule" condim="1" friction="1.0 0.05 0.05" solimp=".9 .99 .003" solref=".015 1" material="self"/> <joint type="hinge" damping="0.1" stiffness="5" armature=".007" limited="true" solimplimit="0 .99 .01"/> <default class="small_joint"> <joint damping="1.0" stiffness="2" armature=".006"/> </default> <default class="big_joint"> <joint damping="5" stiffness="10" armature=".01"/> </default> <default class="bigger_stiff_joint"> <joint damping="5" stiffness="20" armature=".01"/> </default> <default class="big_stiff_joint"> <joint damping="5" stiffness="20" armature=".02"/> </default> <site size=".04" group="3"/> <default class="force-torque"> <site type="box" size=".01 .01 .02" rgba="1 0 0 1" /> </default> <default class="touch"> <site type="capsule" rgba="0 0 1 .3"/> </default> </default> </default> <worldbody> <geom name="floor" type="plane" conaffinity="1" size="100 100 .2" material="grid"/> <body name="torso" pos="0 0 1.5" childclass="body"> <light name="top" pos="0 0 2" mode="trackcom"/> <camera name="back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/> <camera name="side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/> <freejoint name="root"/> <site name="root" class="force-torque"/> <geom name="torso" fromto="0 -.07 0 0 .07 0" size=".07"/> <geom name="upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/> <site name="torso" class="touch" type="box" pos="0 0 -.05" size=".075 .14 .13"/> <body name="head" pos="0 0 .19"> <geom name="head" type="sphere" size=".09"/> <site name="head" class="touch" type="sphere" size=".091"/> <camera name="egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/> </body> <body name="lower_waist" pos="-.01 0 -.260" quat="1.000 0 -.002 0"> <geom name="lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/> <site name="lower_waist" class="touch" size=".061 .06" zaxis="0 1 0"/> <joint name="abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/> <joint name="abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="bigger_stiff_joint"/> <body name="pelvis" pos="0 0 -.165" quat="1.000 0 -.002 0"> <joint name="abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/> <geom name="butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/> <site name="butt" class="touch" size=".091 .07" pos="-.02 0 0" zaxis="0 1 0"/> <body name="right_thigh" pos="0 -.1 -.04"> <site name="right_hip" class="force-torque"/> <joint name="right_hip_x" axis="1 0 0" range="-45 15" class="big_joint"/> <joint name="right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/> <joint name="right_hip_y" axis="0 1 0" range="-120 45" class="bigger_stiff_joint"/> <geom name="right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/> <site name="right_thigh" class="touch" pos="0 .005 -.17" size=".061 .17" zaxis="0 -1 34"/> <body name="right_shin" pos="0 .01 -.403"> <site name="right_knee" class="force-torque" pos="0 0 .02"/> <joint name="right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/> <geom name="right_shin" fromto="0 0 0 0 0 -.3" size=".049"/> <site name="right_shin" class="touch" pos="0 0 -.15" size=".05 .15"/> <body name="right_foot" pos="0 0 -.39"> <site name="right_ankle" class="force-torque"/> <joint name="right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" class="small_joint"/> <joint name="right_ankle_x" pos="0 0 .08" axis="1 0 .5" range="-50 50" class="small_joint"/> <geom name="right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/> <geom name="left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/> <site name="right_right_foot" class="touch" pos=".035 -.03 0" size=".03 .11" zaxis="21 -2 0"/> <site name="left_right_foot" class="touch" pos=".035 .01 0" size=".03 .11" zaxis="21 2 0"/> </body> </body> </body> <body name="left_thigh" pos="0 .1 -.04"> <site name="left_hip" class="force-torque"/> <joint name="left_hip_x" axis="-1 0 0" range="-45 15" class="big_joint"/> <joint name="left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/> <joint name="left_hip_y" axis="0 1 0" range="-120 45" class="bigger_stiff_joint"/> <geom name="left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/> <site name="left_thigh" class="touch" pos="0 -.005 -.17" size=".061 .17" zaxis="0 1 34"/> <body name="left_shin" pos="0 -.01 -.403"> <site name="left_knee" class="force-torque" pos="0 0 .02"/> <joint name="left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/> <geom name="left_shin" fromto="0 0 0 0 0 -.3" size=".049"/> <site name="left_shin" class="touch" pos="0 0 -.15" size=".05 .15"/> <body name="left_foot" pos="0 0 -.39"> <site name="left_ankle" class="force-torque"/> <joint name="left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" class="small_joint"/> <joint name="left_ankle_x" pos="0 0 .08" axis="1 0 .5" range="-50 50" class="small_joint"/> <geom name="left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/> <geom name="right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/> <site name="right_left_foot" class="touch" pos=".035 -.01 0" size=".03 .11" zaxis="21 -2 0"/> <site name="left_left_foot" class="touch" pos=".035 .03 0" size=".03 .11" zaxis="21 2 0"/> </body> </body> </body> </body> </body> <body name="right_upper_arm" pos="0 -.17 .06"> <joint name="right_shoulder1" axis="2 1 1" range="-90 70" class="big_joint"/> <joint name="right_shoulder2" axis="0 -1 1" range="-90 70" class="big_joint"/> <geom name="right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/> <site name="right_upper_arm" class="touch" pos=".08 -.08 -.08" size=".041 .14" zaxis="1 -1 -1"/> <body name="right_lower_arm" pos=".18 -.18 -.18"> <joint name="right_elbow" axis="0 -1 1" range="-90 50" class="small_joint"/> <geom name="right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/> <site name="right_lower_arm" class="touch" pos=".09 .09 .09" size=".032 .14" zaxis="1 1 1"/> <body name="right_hand" pos=".18 .18 .18"> <geom name="right_hand" type="sphere" size=".04"/> <site name="right_hand" class="touch" type="sphere" size=".041"/> </body> </body> </body> <body name="left_upper_arm" pos="0 .17 .06"> <joint name="left_shoulder1" axis="-2 1 -1" range="-90 70" class="big_joint"/> <joint name="left_shoulder2" axis="0 -1 -1" range="-90 70" class="big_joint"/> <geom name="left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/> <site name="left_upper_arm" class="touch" pos=".08 .08 -.08" size=".041 .14" zaxis="1 1 -1"/> <body name="left_lower_arm" pos=".18 .18 -.18"> <joint name="left_elbow" axis="0 -1 -1" range="-90 50" class="small_joint"/> <geom name="left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/> <site name="left_lower_arm" class="touch" pos=".09 -.09 .09" size=".032 .14" zaxis="1 -1 1"/> <body name="left_hand" pos=".18 -.18 .18"> <geom name="left_hand" type="sphere" size=".04"/> <site name="left_hand" class="touch" type="sphere" size=".041"/> </body> </body> </body> </body> </worldbody> <actuator> <motor name='abdomen_y' gear='67.5' joint='abdomen_y'/> <motor name='abdomen_z' gear='67.5' joint='abdomen_z'/> <motor name='abdomen_x' gear='67.5' joint='abdomen_x'/> <motor name='right_hip_x' gear='45.0' joint='right_hip_x'/> <motor name='right_hip_z' gear='45.0' joint='right_hip_z'/> <motor name='right_hip_y' gear='135.0' joint='right_hip_y'/> <motor name='right_knee' gear='90.0' joint='right_knee'/> <motor name='right_ankle_x' gear='22.5' joint='right_ankle_x'/> <motor name='right_ankle_y' gear='22.5' joint='right_ankle_y'/> <motor name='left_hip_x' gear='45.0' joint='left_hip_x'/> <motor name='left_hip_z' gear='45.0' joint='left_hip_z'/> <motor name='left_hip_y' gear='135.0' joint='left_hip_y'/> <motor name='left_knee' gear='90.0' joint='left_knee'/> <motor name='left_ankle_x' gear='22.5' joint='left_ankle_x'/> <motor name='left_ankle_y' gear='22.5' joint='left_ankle_y'/> <motor name='right_shoulder1' gear='67.5' joint='right_shoulder1'/> <motor name='right_shoulder2' gear='67.5' joint='right_shoulder2'/> <motor name='right_elbow' gear='45.0' joint='right_elbow'/> <motor name='left_shoulder1' gear='67.5' joint='left_shoulder1'/> <motor name='left_shoulder2' gear='67.5' joint='left_shoulder2'/> <motor name='left_elbow' gear='45.0' joint='left_elbow'/> </actuator> <sensor> <subtreelinvel name="torso_subtreelinvel" body="torso"/> <accelerometer name="torso_accel" site="root"/> <velocimeter name="torso_vel" site="root"/> <gyro name="torso_gyro" site="root"/> <force name="left_ankle_force" site="left_ankle"/> <force name="right_ankle_force" site="right_ankle"/> <force name="left_knee_force" site="left_knee"/> <force name="right_knee_force" site="right_knee"/> <force name="left_hip_force" site="left_hip"/> <force name="right_hip_force" site="right_hip"/> <torque name="left_ankle_torque" site="left_ankle"/> <torque name="right_ankle_torque" site="right_ankle"/> <torque name="left_knee_torque" site="left_knee"/> <torque name="right_knee_torque" site="right_knee"/> <torque name="left_hip_torque" site="left_hip"/> <torque name="right_hip_torque" site="right_hip"/> <touch name="torso_touch" site="torso"/> <touch name="head_touch" site="head"/> <touch name="lower_waist_touch" site="lower_waist"/> <touch name="butt_touch" site="butt"/> <touch name="right_thigh_touch" site="right_thigh"/> <touch name="right_shin_touch" site="right_shin"/> <touch name="right_right_foot_touch" site="right_right_foot"/> <touch name="left_right_foot_touch" site="left_right_foot"/> <touch name="left_thigh_touch" site="left_thigh"/> <touch name="left_shin_touch" site="left_shin"/> <touch name="right_left_foot_touch" site="right_left_foot"/> <touch name="left_left_foot_touch" site="left_left_foot"/> <touch name="right_upper_arm_touch" site="right_upper_arm"/> <touch name="right_lower_arm_touch" site="right_lower_arm"/> <touch name="right_hand_touch" site="right_hand"/> <touch name="left_upper_arm_touch" site="left_upper_arm"/> <touch name="left_lower_arm_touch" site="left_lower_arm"/> <touch name="left_hand_touch" site="left_hand"/> </sensor> </mujoco>
57.699029
118
0.574121
2f8ea147b16a946b3299f50471da6f6eef92db2c
3,329
xml
XML
src/mtenv/local_dm_control_suite/cheetah_bfoot_len_10.xml
NagisaZj/ac-teach
481811d5c80d0dbee54f16c063b4ea3262b82050
[ "MIT" ]
56
2021-02-11T19:15:17.000Z
2022-03-03T02:58:18.000Z
src/mtenv/local_dm_control_suite/cheetah_bfoot_len_10.xml
NagisaZj/ac-teach
481811d5c80d0dbee54f16c063b4ea3262b82050
[ "MIT" ]
1
2021-04-12T11:20:16.000Z
2021-04-20T22:53:28.000Z
src/mtenv/local_dm_control_suite/cheetah_bfoot_len_10.xml
NagisaZj/ac-teach
481811d5c80d0dbee54f16c063b4ea3262b82050
[ "MIT" ]
3
2021-02-27T11:46:16.000Z
2021-11-06T13:59:40.000Z
<mujoco model="cheetah"> <include file="./common/skybox.xml"/> <include file="./common/visual.xml"/> <include file="./common/materials_white_floor.xml"/> <compiler settotalmass="14"/> <default> <default class="cheetah"> <joint limited="true" damping=".01" armature=".1" stiffness="8" type="hinge" axis="0 1 0"/> <geom contype="1" conaffinity="1" condim="3" friction=".4 .1 .1" material="self"/> </default> <default class="free"> <joint limited="false" damping="0" armature="0" stiffness="0"/> </default> <motor ctrllimited="true" ctrlrange="-1 1"/> </default> <statistic center="0 0 .7" extent="2"/> <option timestep="0.01"/> <worldbody> <geom name="ground" type="plane" conaffinity="1" pos="98 0 0" size="100 .8 .5" material="grid"/> <body name="torso" pos="0 0 .7" childclass="cheetah"> <light name="light" pos="0 0 2" mode="trackcom"/> <camera name="side" pos="0 -3 0" quat="0.707 0.707 0 0" mode="trackcom"/> <camera name="back" pos="-1.8 -1.3 0.8" xyaxes="0.45 -0.9 0 0.3 0.15 0.94" mode="trackcom"/> <joint name="rootx" type="slide" axis="1 0 0" class="free"/> <joint name="rootz" type="slide" axis="0 0 1" class="free"/> <joint name="rooty" type="hinge" axis="0 1 0" class="free"/> <geom name="torso" type="capsule" fromto="-.5 0 0 .5 0 0" size="0.046"/> <geom name="head" type="capsule" pos=".6 0 .1" euler="0 50 0" size="0.046 .15"/> <body name="bthigh" pos="-.5 0 0"> <joint name="bthigh" range="-30 60" stiffness="240" damping="6"/> <geom name="bthigh" type="capsule" pos=".1 0 -.13" euler="0 -218 0" size="0.046 .145"/> <body name="bshin" pos=".16 0 -.25"> <joint name="bshin" range="-50 50" stiffness="180" damping="4.5"/> <geom name="bshin" type="capsule" pos="-.14 0 -.07" euler="0 -116 0" size="0.046 .15"/> <body name="bfoot" pos="-.28 0 -.14"> <joint name="bfoot" range="-230 50" stiffness="120" damping="3"/> <geom name="bfoot" type="capsule" pos=".03 0 -.187" euler="0 -15 0" size="0.046 .184"/> </body> </body> </body> <body name="fthigh" pos=".5 0 0"> <joint name="fthigh" range="-57 .40" stiffness="180" damping="4.5"/> <geom name="fthigh" type="capsule" pos="-.07 0 -.12" euler="0 30 0" size="0.046 .133"/> <body name="fshin" pos="-.14 0 -.24"> <joint name="fshin" range="-70 50" stiffness="120" damping="3"/> <geom name="fshin" type="capsule" pos=".065 0 -.09" euler="0 -34 0" size="0.046 .106"/> <body name="ffoot" pos=".13 0 -.18"> <joint name="ffoot" range="-28 28" stiffness="60" damping="1.5"/> <geom name="ffoot" type="capsule" pos=".045 0 -.07" euler="0 -34 0" size="0.046 .07"/> </body> </body> </body> </body> </worldbody> <sensor> <subtreelinvel name="torso_subtreelinvel" body="torso"/> </sensor> <actuator> <motor name="bthigh" joint="bthigh" gear="120" /> <motor name="bshin" joint="bshin" gear="90" /> <motor name="bfoot" joint="bfoot" gear="60" /> <motor name="fthigh" joint="fthigh" gear="90" /> <motor name="fshin" joint="fshin" gear="60" /> <motor name="ffoot" joint="ffoot" gear="30" /> </actuator> </mujoco>
45.60274
100
0.565035
2f900b97156bc615bfc869104bb283e2a786dda3
1,761
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/9358_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/9358_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/9358_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
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geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/> <position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/> <position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/> <position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/> <position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/> <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" /> <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" /> <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" /> <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" /> <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" /> <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>--> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/> <!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/> <position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/> <position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/> <position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/> <position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>--> </actuator> </mujoco>
131.937135
10,958
0.68847
2f93dcb92f0f7df84b713b11ed289521b8618f6e
2,714
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/2100_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/2100_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/2100_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/210/210.stl" name="obj0" scale="0.00466039742238079 0.00466039742238079 0.00466039742238079" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table0" pos="1.3 0.75 0.17"> <geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" /> </body> <body name="table_top" pos="1.3 0.75 0.36"> <joint damping="0.01" name="table_top:joint" type="free" /> <geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" /> <site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <body name="object0" pos="0.04 0.03296412111487426 0.02773537424564186" zaxis="0.0 0.0 1.0"> <joint damping="0.01" name="object0:joint" type="free" /> <geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="0.0 0.0 1.0" /> <geom condim="3" mass="2" material="block_mat" pos="0.008905978239395734 -0.016988607033397603 0.034186728437516474" size="0.012875260997626353 0.022261006309766095 0.05498650101346137" type="box" zaxis="0.0 0.0 1.0" /> <site name="object0" pos="0.00044164992129042536 -0.006785267883520073 0.006935601669696967" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> <site name="handle0" pos="0.008905978239395734 -0.016988607033397603 0.024186728437516472" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
50.259259
222
0.656964
2f943f093b4dcf960c9a063eb5b4b200d27dc6bf
2,719
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/8803_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/8803_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/8803_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
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XML
herb_reconf/cluttered_scenes/grasping_potted_plant_3_3_0.5_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/grasping_potted_plant_3_3_0.5_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/grasping_potted_plant_3_3_0.5_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
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geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_0" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="10000" name="herb/wam_1/p_j1_base_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="10000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/> <position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="10000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/> <position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="10000" name="herb/wam_1/p_j4_elbow_pitch_joint"/> <position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/> <position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/> <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" /> <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" /> <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" /> <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" /> <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" /> <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>--> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/> <!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/> <position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/> <position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/> <position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/> <position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>--> </actuator> </mujoco>
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XML
gym/envs/robotics/assets/fetch/random_obj_xml/4491_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/4491_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/4491_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/449/449.stl" name="obj0" scale="0.009565842981973877 0.009565842981973877 0.009565842981973877" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table0" pos="1.3 0.75 0.2"> <geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" /> </body> <body name="object0" pos="0.020973789912829447 0.05796919978762133 0.013347689439054266"> <joint damping="0.01" name="object0:joint" type="free" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="object0" pos="1.535424257809772e-05 -0.0006970182187212985 -4.208382458336192e-05" rgba="1 0 0 0" size="0.010486894956414724 0.028984599893810664 0.006673844719527133" type="ellipsoid" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
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xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/5045_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/5045_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/5045_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/504/504.stl" name="obj0" scale="0.003886349363874309 0.003886349363874309 0.003886349363874309" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table" pos="1.3 0.75 0.2"> <joint damping="0.01" name="table:joint" type="free" /> <geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" /> <body name="switch" pos="0.025045776679305545 0.026518786644725227 0.2215973605934994"> <joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" /> </body> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> </mujoco>
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xml
XML
herb_reconf/cluttered_scenes/hard_pushing_lamp_3_1_0.2_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/hard_pushing_lamp_3_1_0.2_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/hard_pushing_lamp_3_1_0.2_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
<?xml version="1.0" ?><mujoco model="scene"> <compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/> <option apirate="50" collision="predefined" cone="elliptic" impratio="5" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/> <size nconmax="10000" njmax="10000"/> <visual> <global offheight="800" offwidth="800"/> <quality shadowsize="2048"/> <headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/> <map force="0.1" zfar="30.0"/> <rgba haze="0.1499999 0.25 0.3499998 1"/> </visual> <statistic center="0.2 0 0.5" extent="10.0"/> <default> <default class="/"/> <default class="geom0"> <geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/> </default> <default class="herb/"> <joint damping="1.0"/> <default class="herb/viz"> <geom conaffinity="0" contype="0" group="1"/> </default> </default> <default class="herb/wam/"> <joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/> <default class="herb/wam/viz"> <geom conaffinity="0" contype="0" group="1" type="mesh"/> </default> <default class="herb/wam/col"> <geom conaffinity="1" contype="0" group="0" type="mesh"/> </default> </default> <default class="herb/wam/bhand/"> <joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/> <default class="herb/wam/bhand/col"> <geom conaffinity="1" contype="0" group="0" type="mesh"/> </default> <default class="herb/wam/bhand/viz"> <geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/> </default> </default> <default class="herb/wam_1/"> <joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/> <default class="herb/wam_1/viz"> <geom conaffinity="0" contype="0" group="1" type="mesh"/> </default> <default class="herb/wam_1/col"> <geom conaffinity="1" condim="4" contype="1" group="0" priority="10" type="mesh"/><!-- friction="1 0.1 0.02" --> </default> </default> <default class="herb/wam_1/bhand/"> <joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/> <default class="herb/wam_1/bhand/col"> <geom conaffinity="1" condim="4" contype="4" friction="1 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/> <!-- --> </default> <default class="herb/wam_1/bhand/viz"> <geom conaffinity="0" condim="4" contype="4" friction="1 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/><!-- --> </default> </default> </default> <asset> <texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concrete_2d" type="2d"/> <texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concretecube" type="cube"/> <material class="/" name="concrete_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concrete_2d"/> <material class="/" name="concretecube" rgba="0.8 0.8 0.8 1" texture="concretecube"/> <texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marble2d" type="2d"/> <texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marblecube" type="cube"/> <material class="/" name="marble_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="marble2d"/> <material class="/" name="marblecube" rgba="0.8 0.8 0.8 1" texture="marblecube"/> <texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplain_2d" type="2d"/> <texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplaincube" type="cube"/> <material class="/" name="concreteplain_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concreteplain_2d"/> <material class="/" name="concreteplaincube" rgba="0.8 0.8 0.8 1" texture="concreteplaincube"/> <texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="wood2d" type="2d"/> <texture 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pos="-0.19039386433968011 0.04115471291830413 0.3549998"> <geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/> <joint name="//unnamed_joint_6" class="/" type="free"/> </body>--> <!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998"> <geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325"> <geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/> <joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/> </body> <body name="target_obj" pos="0 0.0 0.325"> <geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/> </body>--> <!--<body name="gen_body_0" pos="0 0.0 0.3549998"> <geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/> <joint name="//unnamed_joint_0" class="/" type="free"/> </body>--> <!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998"> <geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/> </body>--> <!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!-- <body name="virt_box_2" pos="0 .45 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/> </body> <body name="virt_box_3" pos="0 0.57243499223068691 0.3549998"> <geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/> </body> --> <body euler="0 0 3.0687780052977853" name="gen_body_0" pos="0 0 0.5010347247123719"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.22199317108973948 0.8707323061773764 0.20671915533942642 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 0.14409286946142802" name="gen_body_gadded_1" pos="0.13335949181808063 0.0 0.3003578590427328"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.024306561629486967 0.20455554637995066 0.6998436141265575 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 1.1794872657700757" name="gen_body_gadded_2" pos="0.3283796883851997 0.40877058632050933 0.3002026324722806"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.6117438629026457 0.7659078564803156 0.5184179878729432 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 5.5288074256871" name="gen_body_gadded_3" pos="0.3522201158705438 0.11862360412232363 0.30035627318808233"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.08074126876487486 0.73844029619897 0.4413092228959531 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 3.6432284095301353" name="gen_body_gadded_4" pos="-0.11895268118782848 0.2376645386918059 0.3002752809447282"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.27408646199222464 0.4142350190810513 0.29607993273364797 1" type="mesh"/><joint class="/" name="gen_joint_gadded_4" type="free"/></body></worldbody> <contact> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/> <!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> --> <!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/> <exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/> <exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/> <exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/> <exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/> <exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/> <exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/> <exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>--> </contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/> <position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/> <position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/> <position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/> <position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/> <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" /> <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" /> <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" /> <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" /> <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" /> <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>--> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/> <!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/> <position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/> <position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/> <position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/> <position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>--> </actuator> </mujoco>
117.378655
1,612
0.687359
2f96e8b3d72a5ebaaf4fb3059dcafeb91e6ab5a8
1,456
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/5367_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/5367_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/5367_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/536/536.stl" name="obj0" scale="0.006592776090888804 0.006592776090888804 0.006592776090888804" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table" pos="1.3 0.75 0.2"> <joint damping="0.01" name="table:joint" type="free" /> <geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" /> <body name="switch" pos="0.011189081576502023 0.05604732890448721 0.23201924442142516"> <joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" /> </body> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> </mujoco>
38.315789
155
0.618819
2f97c8851463e0676d9d46710887e3f4e165a65f
2,716
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/8479_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/8479_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/8479_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/847/847.stl" name="obj0" scale="0.004595524085917229 0.004595524085917229 0.004595524085917229" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table0" pos="1.3 0.75 0.17"> <geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" /> </body> <body name="table_top" pos="1.3 0.75 0.36"> <joint damping="0.01" name="table_top:joint" type="free" /> <geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" /> <site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <body name="object0" pos="0.02039375943913467 0.04 0.023582740659123382" zaxis="1.0 0.0 0.0"> <joint damping="0.01" name="object0:joint" type="free" /> <geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="1.0 0.0 0.0" /> <geom condim="3" mass="2" material="block_mat" pos="-0.0009140009268437804 0.01721279167926275 0.028949584912784404" size="0.017676440199215313 0.014964893297676723 0.05224986906698855" type="box" zaxis="1.0 0.0 0.0" /> <site name="object0" pos="0.0004119478446174968 0.00878851199784042 -0.002906524715069477" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> <site name="handle0" pos="-0.0009140009268437804 0.01721279167926275 0.018949584912784402" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
50.296296
222
0.657216
2f982c987c4ca8d37284130dbbbdcfa83f7f47dd
2,716
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/6935_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/6935_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/6935_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/693/693.stl" name="obj0" scale="0.0064256935210856726 0.0064256935210856726 0.0064256935210856726" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table0" pos="1.3 0.75 0.17"> <geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" /> </body> <body name="table_top" pos="1.3 0.75 0.36"> <joint damping="0.01" name="table_top:joint" type="free" /> <geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" /> <site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <body name="object0" pos="0.016561081277151567 0.04 0.016557762406447928" zaxis="0.0 0.0 1.0"> <joint damping="0.01" name="object0:joint" type="free" /> <geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="0.0 0.0 1.0" /> <geom condim="3" mass="2" material="block_mat" pos="0.006208424714352301 0.005938893295867473 0.02602173684991599" size="0.012002465521825 0.015986128813783466 0.04432494940318823" type="box" zaxis="0.0 0.0 1.0" /> <site name="object0" pos="0.0019431248485862398 0.006146930082040259 -0.0017454501468243122" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> <site name="handle0" pos="0.006208424714352301 0.005938893295867473 0.016021736849915987" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
50.296296
217
0.657953
2f99d9b057d31ee42b7416067860ab1b64f4aee8
1,453
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/6075_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/6075_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/6075_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/607/607.stl" name="obj0" scale="0.007109148804290332 0.007109148804290332 0.007109148804290332" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table" pos="1.3 0.75 0.2"> <joint damping="0.01" name="table:joint" type="free" /> <geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" /> <body name="switch" pos="0.03491049892089549 0.0452189672978574 0.2185328720090741"> <joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" /> </body> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> </mujoco>
38.236842
155
0.618032
2f9c2d52ef0d7af58cd4765ea08cd219e86d3745
14,407
xml
XML
robogym/assets/xmls/robot/shadowhand/chain_render.xml
0xflotus/robogym
5ec2fcbda9828941fe3072792dd25fb5a915bbbb
[ "MIT" ]
288
2020-11-12T21:39:34.000Z
2022-03-19T23:27:50.000Z
robogym/assets/xmls/robot/shadowhand/chain_render.xml
0xflotus/robogym
5ec2fcbda9828941fe3072792dd25fb5a915bbbb
[ "MIT" ]
3
2020-12-12T19:19:30.000Z
2022-03-24T05:21:39.000Z
robogym/assets/xmls/robot/shadowhand/chain_render.xml
0xflotus/robogym
5ec2fcbda9828941fe3072792dd25fb5a915bbbb
[ "MIT" ]
31
2020-11-12T22:31:01.000Z
2022-02-28T20:34:48.000Z
<!-- See LICENSE.md for legal notices. LICENSE.md must be kept together with this file. --> <mujocoinclude> <body childclass="asset_class" name="forearm" pos="0 0.01 0" euler="0 0 0"> <inertial pos="0.001 -0.002 0.29" quat="0.982 -0.016 0.000 -0.188" mass="4" diaginertia="0.01 0.01 0.0075" /> <geom class="D_Contact" pos="0 .01 .04" name="forearm" mesh="forearm" euler="0 0 1.57" /> <body pos="0.046 -0.035 0.216" euler="1.5707963267948966 0 3.141592653589793"> <site class="D_PhasespaceSite" name="phasespace_ref0" pos="0.007 -0.009 -0.006" /> <site class="D_PhasespaceSite" name="phasespace_ref1" pos="0.085 -0.009 -0.006" /> <site class="D_PhasespaceSite" name="phasespace_ref2" pos="0.085 -0.009 -0.084" /> </body> <!-- ======= Wrist ======= --> <body name="wrist" pos="0 0 0.256"> <inertial pos="0.003 0.000 0.016" quat="0.504 0.496 0.495 0.504" mass="0.3" diaginertia="0.001 0.001 0.001" /> <joint name="WRJ1" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.489 0.140" damping=".43" armature=".005" user="1123" /> <geom class="D_Visual" name="wrist" mesh="wrist" /> <!-- ======= Palm ======= --> <body name="palm" pos="0 0 0.034"> <inertial pos="0.006 -0.000 0.036" quat="0.716 0.044 0.075 0.693" mass="0.3" diaginertia="0.001 0.001 0.001" /> <joint name="WRJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.698 0.489" damping="2.0" frictionloss="0.05" armature=".005" user="1122" /> <geom class="D_Visual" name="palm" mesh="palm" /> <!-- ======= First Finger ======= --> <body name="ffknuckle" pos="0.033 0 0.095"> <inertial pos="-0.000 0.000 0.000" quat="0.520 0.854 0.006 -0.003" mass="0.008" diaginertia="0.00001 0.00001 0.00001" /> <joint name="FFJ3" type="hinge" pos="0 0 0" axis="0 1 0" damping="0.15" frictionloss="0.01" range="-0.277 0.349" user="1103" /> <geom class="D_Visual" name="ffknuckle" mesh="knuckle" /> <!-- Proximal --> <body name="ffproximal" pos="0 0 0"> <inertial pos="0.000 0.000 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="0.00001 0.00001 0.00001" /> <joint name="FFJ2" type="hinge" pos="0 0 0" axis="1 0 0" damping="0.2" frictionloss="0.01" stiffness="0.03" range="0 1.454" user="1102" /> <geom class="D_Visual" name="ffproximal" mesh="F3" /> <!-- Middle --> <body name="ffmiddle" pos="0 0 0.045"> <inertial pos="-0.000 -0.000 0.011" quat="0.707 0.000 -0.000 0.707" mass="0.012" diaginertia="0.00001 0.00001 0.00001" /> <joint name="FFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.684" damping="0.1" user="1101" /> <geom class="D_Visual" name="ffmiddle" mesh="F2" /> <!-- Distal --> <body name="ffdistal" pos="0 0 0.025"> <inertial pos="0 -0.000 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.010" diaginertia="0.00001 0.00001 0.00001" /> <joint name="FFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1100" springref="-1.0" stiffness="0.01" /> <geom class="D_Visual" name="ffdistal" pos="0 0 0.001" mesh="F1" /> <site class="D_PhasespaceSite" name="S_fftip" pos="0.000 0.004 0.027" /> <site class="D_TouchVisual" name="Tch_fftip" /> </body> </body> </body> </body> <!-- ======= First Finger End =======--> <!-- ======= Middle Finger ======= --> <body name="mfknuckle" pos="0.011 0 0.099"> <inertial pos="-0.000 0.000 0.000" quat="0.520 0.854 0.006 -0.003" mass="0.008" diaginertia="0.00001 0.00001 0.00001" /> <joint name="MFJ3" type="hinge" pos="0 0 0" axis="0 1 0" damping="0.15" frictionloss="0.002" range="-0.293 0.349" user="1107" /> <geom class="D_Visual" name="mfknuckle" mesh="knuckle" /> <!-- Proximal --> <body name="mfproximal" pos="0 0 0"> <inertial pos="0.000 0.000 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="0.00001 0.00001 0.00001" /> <joint name="MFJ2" damping="0.28" stiffness="0.03" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.435" user="1106" /> <geom class="D_Visual" name="mfproximal" mesh="F3" /> <!-- Middle --> <body name="mfmiddle" pos="0 0 0.045"> <inertial pos="-0.000 -0.000 0.012" quat="0.707 0.000 -0.000 0.707" mass="0.012" diaginertia="0.00001 0.00001 0.00001" /> <joint name="MFJ1" type="hinge" pos="0 0 0" axis="1 0 0" damping="0.035" range="0 1.772" user="1105" /> <geom class="D_Visual" name="mfmiddle" mesh="F2" /> <!-- Distal --> <body name="mfdistal" pos="0 0 0.025"> <inertial pos="0 -0.000 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.010" diaginertia="0.00001 0.00001 0.00001" /> <joint name="MFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1104" springref="-1.0" stiffness="0.01" /> <geom class="D_Visual" name="mfdistal" mesh="F1" /> <site class="D_PhasespaceSite" name="S_mftip" pos="0.000 0.004 0.027" /> <site class="D_TouchVisual" name="Tch_mftip" /> </body> </body> </body> </body> <!-- ======= Middle Finger End ======= --> <!-- ======= Ring Finger ======= --> <body name="rfknuckle" pos="-0.011 0 0.095"> <inertial pos="-0.000 0.000 0.000" quat="0.520 0.854 0.006 -0.003" mass="0.008" diaginertia="0.00001 0.00001 0.00001" /> <joint name="RFJ3" type="hinge" pos="0 0 0" axis="0 1 0" damping="0.19" frictionloss="0.01" range="-0.349 0.349" user="1111" /> <geom class="D_Visual" name="rfknuckle" mesh="knuckle" /> <!-- Proximal --> <body name="rfproximal" pos="0 0 0"> <inertial pos="0.000 0.000 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="0.00001 0.00001 0.00001" /> <joint name="RFJ2" type="hinge" pos="0 0 0" axis="1 0 0" damping="0.22" frictionloss="0.01" range="0 1.571" user="1110" /> <geom class="D_Visual" name="rfproximal" mesh="F3" /> <!-- Middle --> <body name="rfmiddle" pos="0 0 0.045"> <inertial pos="-0.000 -0.000 0.012" quat="0.707 0.000 -0.000 0.707" mass="0.012" diaginertia="0.00001 0.00001 0.00001" /> <joint name="RFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1109" /> <geom class="D_Visual" name="rfmiddle" mesh="F2" /> <!-- Distal --> <body name="rfdistal" pos="0 0 0.025"> <inertial pos="0 -0.000 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.010" diaginertia="0.00001 0.00001 0.00001" /> <joint name="RFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.558" user="1108" springref="-1.0" stiffness="0.01" /> <geom class="D_Visual" name="rfdistal" mesh="F1" pos="0 0 .001" /> <site class="D_PhasespaceSite" name="S_rftip" pos="0.000 0.004 0.027" /> <site class="D_TouchVisual" name="Tch_rftip" /> </body> </body> </body> </body> <!-- ======= Ring Finger End ======= --> <!-- ======= Little Finger ======= --> <body name="lfmetacarpal" pos="-0.017 0 0.044"> <inertial pos="-0.014 0.001 0.014" quat="0.709 -0.092 -0.063 0.696" mass="0.075" diaginertia="0.00001 0.00001 0.00001" /> <joint name="LFJ4" type="hinge" pos="0 0 0" axis="0.571 0 0.821" damping="0.22" frictionloss="0.01" range="0 0.785" user="1116" /> <geom class="D_Visual" name="lfmetacarpal" pos="-0.016 0.000 -0.023" mesh="lfmetacarpal" /> <!-- Knuckle --> <body name="lfknuckle" pos="-0.017 0 0.044"> <inertial pos="-0.000 0.000 0.000" quat="0.520 0.854 0.006 -0.003" mass="0.008" diaginertia="0.00001 0.00001 0.00001" /> <joint name="LFJ3" type="hinge" pos="0 0 0" axis="0 1 0" damping="0.4" frictionloss="0.010" range="-0.332 0.247" user="1115" /> <geom class="D_Visual" name="lfknuckle" mesh="knuckle" /> <!-- Proximal --> <body name="lfproximal" pos="0 0 0"> <inertial pos="0.000 0.000 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="0.00001 0.00001 0.00001" /> <joint name="LFJ2" type="hinge" pos="0 0 0" axis="1 0 0" damping="0.33" frictionloss="0.01" range="0 1.571" user="1114" /> <geom class="D_Visual" name="lfproximal" mesh="F3" /> <!-- Middle --> <body name="lfmiddle" pos="0 0 0.045"> <inertial pos="-0.000 -0.000 0.012" quat="0.707 0.000 -0.000 0.707" mass="0.012" diaginertia="0.00001 0.00001 0.00001" /> <joint name="LFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.755" damping="0.03" user="1113" /> <geom class="D_Visual" name="lfmiddle" mesh="F2" /> <!-- Distal --> <body name="lfdistal" pos="0 0 0.025"> <inertial pos="0 -0.000 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.010" diaginertia="0.00001 0.00001 0.00001" /> <joint name="LFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1112" springref="-1.0" stiffness="0.01" /> <geom class="D_Visual" name="lfdistal" mesh="F1" pos="0 0 .001" /> <site class="D_PhasespaceSite" name="S_lftip" pos="0.000 0.004 0.027" /> <site class="D_TouchVisual" name="Tch_lftip" /> </body> </body> </body> </body> </body> <!-- ======= Little Finger End ======= --> <!-- ======= Thumb ======= --> <body name="thbase" pos="0.034 -0.009 0.029" axisangle="0 1 0 0.785" > <inertial pos="0 0 0" mass="0.010" diaginertia="0.00001 0.00001 0.00001" /> <joint name="THJ4" type="hinge" pos="0 0 0" axis="0 0 -1" damping="0.2" frictionloss="0.02" range="-1.0 0.5" user="1121" /> <geom class="D_Visual" name="thbase" type="box" group="1" pos="0 0 0" size="0.001 0.001 0.001" /> <!--Proximal--> <body name="thproximal" pos="0 0 0"> <inertial pos="-0.000 -0.000 0.017" quat="0.982 -0.000 0.001 0.191" mass="0.016" diaginertia="0.00001 0.00001 0.00001" /> <joint name="THJ3" type="hinge" pos="0 0 0" axis="1 0 0" damping="0.2" frictionloss="0.003" range="0 1.222" user="1120" /> <geom class="D_Visual" name="thproximal" mesh="TH3_z" /> <!-- Hub --> <body name="thhub" pos="0 0 0.038"> <inertial pos="0 0 0" mass="0.002" diaginertia="0.00001 0.00001 0.00001" /> <joint name="THJ2" type="hinge" pos="0 0 0" axis="1 0 0" damping="0.1" frictionloss="0.009" range="-0.209 0.155" user="1119" /> <!-- Middle --> <body name="thmiddle" pos="0 0 0"> <inertial pos="0.000 -0.000 0.016" quat="1.000 -0.001 -0.007 0.003" mass="0.016" diaginertia="0.00001 0.00001 0.00001" /> <joint name="THJ1" type="hinge" pos="0 0 0" axis="0 1 0" damping="0.2" frictionloss="0.01" range="-0.583 0.524" user="1118" /> <geom class="D_Visual" name="thmiddle" mesh="TH2_z" /> <!-- Distal --> <body name="thdistal" pos="0 0 0.032"> <inertial pos="0.000 -0.000 0.016" quat="0.999 -0.005 -0.047 0.005" mass="0.016" diaginertia="0.00001 0.00001 0.00001" /> <joint name="THJ0" type="hinge" pos="0 0 0" axis="0 1 0" damping="0.18" frictionloss="0.01" range="-1.571 0" user="1117" /> <geom class="D_Visual" name="thdistal" mesh="TH1_z" /> <site class="D_PhasespaceSite" name="S_thtip" pos="0.007 0.0 0.028" /> <site class="D_TouchVisual" name="Tch_thtip" /> </body> </body> </body> </body> </body> <!-- ======= Thumb End ======= --> </body> <!-- ======= Palm End ======= --> </body> <!-- ======= Wrist End ======= --> </body> <!-- ======= Forearm/Hand Actuation End ======= --> </mujocoinclude>
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XML
herb_reconf/cluttered_scenes/grasping_057_racquetball_0_0.7_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/grasping_057_racquetball_0_0.7_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/grasping_057_racquetball_0_0.7_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
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contype="0" conaffinity="0" group="1" size="0.055 0.055 0.055" rgba="0 0 0 0.1666"/> </body>--> <!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!-- <body name="virt_box_2" pos="0 .45 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/> </body> <body name="virt_box_3" pos="0 0.57243499223068691 0.3549998"> <geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/> </body> --> <body euler="0 0 0.9780038145950818" name="gen_body_0" pos="0 0 0.3001909999991767"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.0092646277074937 0.9056399682164461 0.025448843528704468 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 6.11947307136994" name="gen_body_gadded_1" pos="0.25861031987337 0.0 0.3007698010797213"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.5725999546691702 0.7055737810819604 0.37191033611129276 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 2.011993520378453" name="gen_body_gadded_2" pos="0.18050751154409367 0.38274007805633425 0.3041676950802255"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.3527618235147757 0.1810211419447274 0.09766030369313483 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body></worldbody> <contact> <!--<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="box_geom_0" geom2="table_plane"/>--> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/> <!--<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>--> <!--<pair geom1="//unnamed_geom_8" geom2="tabletop" friction="1 1 0.005 0.0001 0.0001" />--> <!-- <pair geom1="//unnamed_geom_9" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> --> </contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="10000" name="herb/wam_1/p_j1_base_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="10000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/> <position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="10000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/> <position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="10000" name="herb/wam_1/p_j4_elbow_pitch_joint"/> <position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/> <position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/> <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" /> <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" /> <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" /> <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" /> <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" /> <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>--> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/> <!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/> <position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/> <position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/> <position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/> <position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>--> </actuator> </mujoco>
119.761381
937
0.683227
2f9db2c9cc454c2bd3c90e5754c8d5d86756c9f5
79,806
xml
XML
herb_reconf/cluttered_scenes/hard_pushing_024_bowl_2_0.4_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/hard_pushing_024_bowl_2_0.4_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/hard_pushing_024_bowl_2_0.4_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
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name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/> <geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/> <geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/> <body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0"> <inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/> <joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/> <body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683"> <inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/> <joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/> </body> </body> </body> <body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5"> <inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/> <joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/> <body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683"> <inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/> <joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body>--> </body> <light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/> </body> <!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998"> <geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/> <joint name="//unnamed_joint_2" class="/" type="free"/> </body> <body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998"> <geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/> <joint name="//unnamed_joint_3" class="/" type="free"/> </body> <body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998"> <geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/> <joint name="//unnamed_joint_4" class="/" type="free"/> </body> --> <!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998"> <geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/> <joint name="//unnamed_joint_5" class="/" type="free"/> </body>--> <!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998"> <geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/> <joint name="//unnamed_joint_6" class="/" type="free"/> </body>--> <!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998"> <geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325"> <geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/> <joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/> </body> <body name="target_obj" pos="0 0.0 0.325"> <geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/> </body>--> <!--<body name="gen_body_0" pos="0 0.0 0.3549998"> <geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/> <joint name="//unnamed_joint_0" class="/" type="free"/> </body>--> <!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998"> <geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/> </body>--> <!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!-- <body name="virt_box_2" pos="0 .45 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/> </body> <body name="virt_box_3" pos="0 0.57243499223068691 0.3549998"> <geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/> </body> --> <body euler="0 0 0.01865244103561124" name="gen_body_0" pos="0 0 0.30053000001935287"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.7207220292119869 0.11957877183687404 0.3826563242805592 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 0.11674699974317433" name="gen_body_gadded_1" pos="0.16681737878485253 0.0 0.3007565254425044"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.9846465604380239 0.5521569913564901 0.45820750774663155 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 4.733808178465653" name="gen_body_gadded_2" pos="0.005190263423856395 0.13370766242478557 0.3002710180684324"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.4245698305958211 0.3514625345352741 0.23017426574929045 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 5.149884552287932" name="gen_body_gadded_3" pos="0.22684880466213203 -0.1190853310148876 0.30016965307900456"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.9784566229223247 0.2289700398193817 0.46132236173575014 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body></worldbody> <contact> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/> <!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> --> <!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/> <exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/> <exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/> <exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/> <exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/> <exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/> <exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/> <exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>--> </contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/> <position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/> <position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/> <position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/> <position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/> <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" /> <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" /> <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" /> <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" /> <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" /> <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>--> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/> <!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/> <position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/> <position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/> <position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/> <position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>--> </actuator> </mujoco>
116.675439
1,281
0.686703
2fa22f112b1989582fb310a712f3126ed11bae76
2,721
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/4996_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/4996_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/4996_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/499/499.stl" name="obj0" scale="0.006304387159980759 0.006304387159980759 0.006304387159980759" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table0" pos="1.3 0.75 0.17"> <geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" /> </body> <body name="table_top" pos="1.3 0.75 0.36"> <joint damping="0.01" name="table_top:joint" type="free" /> <geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" /> <site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <body name="object0" pos="0.010148887559363686 0.04 0.006667028118197173" zaxis="0.0 0.0 1.0"> <joint damping="0.01" name="object0:joint" type="free" /> <geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="0.0 0.0 1.0" /> <geom condim="3" mass="2" material="block_mat" pos="7.923449705275115e-05 -0.006040760447715288 0.053209630933161146" size="0.010007768373085492 0.010030483604202509 0.05971329823657349" type="box" zaxis="0.0 0.0 1.0" /> <site name="object0" pos="9.51697325766005e-06 -0.006011660902643224 0.00016336081478483393" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> <site name="handle0" pos="7.923449705275115e-05 -0.006040760447715288 0.043209630933161144" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
50.388889
223
0.656744
2fa23e711e21ead52938569dd177900d19b01560
1,455
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/165_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/165_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/165_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/016/016.stl" name="obj0" scale="0.005004050390626679 0.005004050390626679 0.005004050390626679" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table" pos="1.3 0.75 0.2"> <joint damping="0.01" name="table:joint" type="free" /> <geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" /> <body name="switch" pos="0.017729925999785248 0.03911792292422719 0.2301942774254037"> <joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" /> </body> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> </mujoco>
38.289474
155
0.618557
2fa2aebffa6a4ef8f30adf8f74804e8be281710f
1,455
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/4990_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/4990_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/4990_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/499/499.stl" name="obj0" scale="0.018745863555257387 0.018745863555257387 0.018745863555257387" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table" pos="1.3 0.75 0.2"> <joint damping="0.01" name="table:joint" type="free" /> <geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" /> <body name="switch" pos="0.030177344220411337 0.11893853013503439 0.2198241631186829"> <joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" /> </body> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> </mujoco>
38.289474
155
0.618557
2fa2e3793d13b676ac99bbc987b53b153e279f77
2,723
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/6688_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/6688_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/6688_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
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body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/> <exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/> <exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/> <exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/> <exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/> <exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/> <exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/> <exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>--> </contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/> <position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/> <position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/> <position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/> <position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/> <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" /> <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" /> <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" /> <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" /> <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" /> <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>--> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/> <!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/> <position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/> <position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/> <position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/> <position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>--> </actuator> </mujoco>
346.799708
103,846
0.73857
2fa63460fd0fb7c12502f832945ee94bc76bbec7
1,764
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/2989_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/2989_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/2989_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/298/298.stl" name="obj0" scale="0.006092063325332359 0.006092063325332359 0.006092063325332359" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table0" pos="1.3 0.75 0.2"> <geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" /> </body> <body name="object0" pos="0.03832405248604567 0.03860566115929082 0.03588172297669829"> <joint damping="0.01" name="object0:joint" type="free" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="object0" pos="0.0097036991255477 -0.005913218071002236 -0.00567115617231578" rgba="1 0 0 0" size="0.019162026243022837 0.01930283057964541 0.017940861488349145" type="ellipsoid" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
43.02439
195
0.669501
2fa8ae682910cc18a23c6e68e92bb4d5581171c7
3,549
xml
XML
dataset/walker2d_v6_test_malicious_info/bodies/44.xml
liusida/thesis-bodies
dceb8a36efd2cefc611f6749a52b56b9d3572f7a
[ "MIT" ]
null
null
null
dataset/walker2d_v6_test_malicious_info/bodies/44.xml
liusida/thesis-bodies
dceb8a36efd2cefc611f6749a52b56b9d3572f7a
[ "MIT" ]
null
null
null
dataset/walker2d_v6_test_malicious_info/bodies/44.xml
liusida/thesis-bodies
dceb8a36efd2cefc611f6749a52b56b9d3572f7a
[ "MIT" ]
null
null
null
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XML
herb_reconf/cluttered_scenes/hard_pushing_016_pear_1_0.3_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/hard_pushing_016_pear_1_0.3_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/hard_pushing_016_pear_1_0.3_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
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class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/> <geom name="herb/wam/bhand//unnamed_geom_8" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/> <body name="herb/wam/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0"> <inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/> <joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_10" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/> <body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683"> <inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/> <joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/> </body> </body> </body> <body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700"> <inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/> <joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/> <geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/> <geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/> <body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0"> <inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/> <joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/> <body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683"> <inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/> <joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/> </body> </body> </body> <body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5"> <inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/> <joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/> <body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683"> <inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/> <joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body>--> </body> <light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/> </body> <!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998"> <geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/> <joint name="//unnamed_joint_2" class="/" type="free"/> </body> <body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998"> <geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/> <joint name="//unnamed_joint_3" class="/" type="free"/> </body> <body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998"> <geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/> <joint name="//unnamed_joint_4" class="/" type="free"/> </body> --> <!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998"> <geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/> <joint name="//unnamed_joint_5" class="/" type="free"/> </body>--> <!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998"> <geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/> <joint name="//unnamed_joint_6" class="/" type="free"/> </body>--> <!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998"> <geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325"> <geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/> <joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/> </body> <body name="target_obj" pos="0 0.0 0.325"> <geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/> </body>--> <!--<body name="gen_body_0" pos="0 0.0 0.3549998"> <geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/> <joint name="//unnamed_joint_0" class="/" type="free"/> </body>--> <!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998"> <geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/> </body>--> <!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!-- <body name="virt_box_2" pos="0 .45 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/> </body> <body name="virt_box_3" pos="0 0.57243499223068691 0.3549998"> <geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/> </body> --> <body euler="0 0 0.6861537836931725" name="gen_body_0" pos="0 0 0.30017899999511427"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.5577726942092991 0.4041112235879939 0.8383507847182868 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 0.47457802409385114" name="gen_body_gadded_1" pos="0.1832230488197057 0.0 0.3077387916268711"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.28565048624378697 0.19197620656372727 0.04240267319607338 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 4.3274732574344625" name="gen_body_gadded_2" pos="0.5252668257200439 0.33934646002491786 0.3008440208004858"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.9881509307119392 0.2982548672467409 0.2489391251411216 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body></worldbody> <contact> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/> <!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> --> <!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/> <exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/> <exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/> <exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/> <exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/> <exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/> <exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/> <exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>--> </contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/> <position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/> <position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/> <position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/> <position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/> <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" /> <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" /> <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" /> <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" /> <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" /> <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>--> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/> <!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/> <position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/> <position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/> <position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/> <position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>--> </actuator> </mujoco>
115.935673
942
0.685965
2facd68704edd08ba7c48d324b61e5981c4bbd92
2,719
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/7685_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/7685_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/7685_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/768/768.stl" name="obj0" scale="0.004121295920895846 0.004121295920895846 0.004121295920895846" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table0" pos="1.3 0.75 0.17"> <geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" /> </body> <body name="table_top" pos="1.3 0.75 0.36"> <joint damping="0.01" name="table_top:joint" type="free" /> <geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" /> <site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <body name="object0" pos="0.027311554001598033 0.04 0.015229128083180117" zaxis="0.0 0.0 1.0"> <joint damping="0.01" name="object0:joint" type="free" /> <geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="0.0 0.0 1.0" /> <geom condim="3" mass="2" material="block_mat" pos="0.0011071139284628676 -0.02857602915209033 0.04037024321032033" size="0.013067878939424939 0.010333665233162913 0.05580032938030166" type="box" zaxis="0.0 0.0 1.0" /> <site name="object0" pos="0.0032074010416597494 -0.013517735501139737 -0.00020095808680121354" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> <site name="handle0" pos="0.0011071139284628676 -0.02857602915209033 0.03037024321032033" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
50.351852
221
0.657227
2faceac40f4dd56b99f587b3167adc8e632f9c36
8,751
xml
XML
robosuite/models/assets/robots/iiwa/robot.xml
hietalajulius/robosuite
505a0a2f7403048981d0c6e549bc19fb14f4974c
[ "MIT" ]
36
2021-10-29T21:23:11.000Z
2022-03-30T15:38:13.000Z
robosuite/models/assets/robots/iiwa/robot.xml
hietalajulius/robosuite
505a0a2f7403048981d0c6e549bc19fb14f4974c
[ "MIT" ]
null
null
null
robosuite/models/assets/robots/iiwa/robot.xml
hietalajulius/robosuite
505a0a2f7403048981d0c6e549bc19fb14f4974c
[ "MIT" ]
4
2021-10-31T16:32:53.000Z
2022-02-11T11:09:03.000Z
<mujoco model="iiwa7"> <actuator> <!-- Physical limits of the actuator. --> <!-- Values taken from kuka_lbr_iiwa_brochure_en.pdf (see website) --> <motor ctrllimited="true" ctrlrange="-176.0 176.0" joint="joint_1" name="torq_j1"/> <motor ctrllimited="true" ctrlrange="-176.0 176.0" joint="joint_2" name="torq_j2"/> <motor ctrllimited="true" ctrlrange="-110.0 110.0" joint="joint_3" name="torq_j3"/> <motor ctrllimited="true" ctrlrange="-110.0 110.0" joint="joint_4" name="torq_j4"/> <motor ctrllimited="true" ctrlrange="-110.0 110.0" joint="joint_5" name="torq_j5"/> <motor ctrllimited="true" ctrlrange="-40.0 40.0" joint="joint_6" name="torq_j6"/> <motor ctrllimited="true" ctrlrange="-40.0 40.0" joint="joint_7" name="torq_j7"/> </actuator> <asset> <mesh name="link_0" file="meshes/link_0.stl" /> <mesh name="link_1" file="meshes/link_1.stl" /> <mesh name="link_2" file="meshes/link_2.stl" /> <mesh name="link_3" file="meshes/link_3.stl" /> <mesh name="link_4" file="meshes/link_4.stl" /> <mesh name="link_5" file="meshes/link_5.stl" /> <mesh name="link_6" file="meshes/link_6.stl" /> <mesh name="link_7" file="meshes/link_7.stl" /> <mesh name="link_0_vis" file="meshes/link_0_vis.stl" /> <mesh name="link_1_vis" file="meshes/link_1_vis.stl" /> <mesh name="link_2_vis" file="meshes/link_2_vis.stl" /> <mesh name="link_3_vis" file="meshes/link_3_vis.stl" /> <mesh name="link_4_vis" file="meshes/link_4_vis.stl" /> <mesh name="link_5_vis" file="meshes/link_5_vis.stl" /> <mesh name="link_6_vis" file="meshes/link_6_vis.stl" /> <mesh name="link_7_vis" file="meshes/link_7_vis.stl" /> </asset> <worldbody> <body name="base" pos="0 0 0"> <!-- robot view --> <camera mode="fixed" name="robotview" pos="1.0 0 0.4" quat="0.653 0.271 0.271 0.653"/> <inertial diaginertia="0 0 0" mass="0" pos="0 0 0"/> <!-- mount attached here --> <geom type="mesh" pos="0 0 0" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1" name="link_0_visual" mesh="link_0_vis" /> <geom type="mesh" pos="0 0 0" rgba="0.4 0.4 0.4 1" contype="0" mesh="link_0" name="link_0_collision" /> <body name="link_1" pos="0 0 0.15"> <inertial pos="0 -0.03 0.12" quat="0.428904 0.562175 -0.562175 0.428904" mass="3.4525" diaginertia="0.0218946 0.02183 0.00663837" /> <joint name="joint_1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.96706 2.96706" damping="0.1" /> <geom pos="0 0 0.0075" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1" name="link_1_visual" mesh="link_1_vis" /> <geom pos="0 0 0.0075" type="mesh" contype="0" rgba="0.4 0.4 0.4 1" mesh="link_1" name="link_1_collision" /> <body name="link_2" pos="0 0 0.19" quat="0 0 0.707107 0.707107"> <inertial pos="0.0003 0.059 0.042" quat="0.701371 0.0898824 0.0898824 0.701371" mass="3.4821" diaginertia="0.02179 0.0217049 0.00684512" /> <joint name="joint_2" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="0.1" /> <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 0.423529 0.0392157 1" name="link_2_visual" mesh="link_2_vis" /> <geom type="mesh" contype="0" rgba="1 0.423529 0.0392157 1" mesh="link_2" name="link_2_collision" /> <body name="link_3" pos="0 0.21 0" quat="0 0 0.707107 0.707107"> <inertial pos="0 0.03 0.13" quat="0.56292 0.427927 -0.427927 0.56292" mass="4.05623" diaginertia="0.0321488 0.03204 0.00799117" /> <joint name="joint_3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.96706 2.96706" damping="0.1" /> <geom pos="0 0 -0.026" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1" name="link_3_visual" mesh="link_3_vis" /> <geom pos="0 0 -0.026" type="mesh" contype="0" rgba="0.4 0.4 0.4 1" mesh="link_3" name="link_3_collision" /> <body name="link_4" pos="0 0 0.19" quat="0.707107 0.707107 0 0"> <inertial pos="0 0.067 0.034" quat="0.991887 -0.127124 0 0" mass="3.4822" diaginertia="0.02178 0.0216947 0.00684029" /> <joint name="joint_4" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="0.1" /> <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 0.423529 0.0392157 1" name="link_4_visual" mesh="link_4_vis" /> <geom type="mesh" contype="0" rgba="1 0.423529 0.0392157 1" mesh="link_4" name="link_4_collision" /> <body name="link_5" pos="0 0.21 0" quat="0 0 0.707107 0.707107"> <inertial pos="0.0001 0.021 0.076" quat="0.365352 0.605407 -0.605407 0.365352" mass="2.1633" diaginertia="0.0131987 0.01287 0.0036293" /> <joint name="joint_5" pos="0 0 0" axis="0 0 1" limited="true" range="-2.96706 2.96706" damping="0.1" /> <geom pos="0 0 -0.026" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1" name="link_5_visual" mesh="link_5_vis" /> <geom pos="0 0 -0.026" type="mesh" contype="0" rgba="0.4 0.4 0.4 1" mesh="link_5" name="link_5_collision" /> <body name="link_6" pos="0 0.0607 0.19" quat="0.707107 0.707107 0 0"> <inertial pos="0 0.0006 0.0004" quat="0.996112 0.088097 0 0" mass="2.3466" diaginertia="0.006509 0.00631585 0.00447015" /> <joint name="joint_6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="0.1" /> <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link_6_vis" name="link_6_visual" rgba="1 0.423529 0.0392157 1" /> <geom type="mesh" contype="0" rgba="1 0.423529 0.0392157 1" mesh="link_6" name="link_6_collision" /> <body name="link_7" pos="0 0.081 0.0607" quat="0 0 0.707107 0.707107"> <inertial pos="0 0 0.02" quat="0.923068 0 0 0.384636" mass="3.129" diaginertia="0.0152362 0.0140538 0.002872" /> <joint name="joint_7" pos="0 0 0" axis="0 0 1" limited="true" range="-3.05433 3.05433" damping="0.1" /> <geom pos="0 0 -0.0005" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1" mesh="link_7_vis" name="link_7_visual" /> <geom pos="0 0 -0.0005" type="mesh" contype="0" rgba="0.4 0.4 0.4 1" mesh="link_7" name="link_7_collision" /> <body name="right_hand" pos="0 0 0.044" > <!-- This sites were added for visualization. They are all standardized between models--> <!-- Position mimics the gripper attachment point (right_hand) --> <!-- Y-axis should be perpendicular to grasping motion, and Z-axis should point out of the robot eef --> <site name="ee" pos="0 0 0" size="0.01 0.01 0.01" rgba="0 0 1 1" type="sphere" group="1"/> <site name="ee_x" pos="0 0 0" size="0.005 .1" quat="0.707105 0.707108 0 0 " rgba="1 0 0 0" type="cylinder" group="1"/> <site name="ee_z" pos="0 0 0" size="0.005 .1" quat="0.707105 0 0 0.707108" rgba="0 0 1 0" type="cylinder" group="1"/> <site name="ee_y" pos="0 0 0" size="0.005 .1" quat="0.707105 0 0.707108 0 " rgba="0 1 0 0" type="cylinder" group="1"/> <!-- This camera points out from the eef. --> <camera mode="fixed" name="eye_in_hand" pos="0.05 0 0" quat="0 0.707108 0.707108 0" fovy="75"/> <!-- To add gripper --> </body> </body> </body> </body> </body> </body> </body> </body> </body> </worldbody> </mujoco>
91.15625
176
0.522112
2fadb487bf9cdb573b1a71f667c62fa0bc2d7b0c
2,711
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/3618_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/3618_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/3618_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/361/361.stl" name="obj0" scale="0.006506797895766628 0.006506797895766628 0.006506797895766628" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table0" pos="1.3 0.75 0.17"> <geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" /> </body> <body name="table_top" pos="1.3 0.75 0.36"> <joint damping="0.01" name="table_top:joint" type="free" /> <geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" /> <site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <body name="object0" pos="0.03551130173860013 0.04 0.031209996003199392" zaxis="0.0 0.0 1.0"> <joint damping="0.01" name="object0:joint" type="free" /> <geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="0.0 0.0 1.0" /> <geom condim="3" mass="2" material="block_mat" pos="0.013696664997239023 -0.01361230940987098 0.044583062033812584" size="0.02506621226870768 0.03309511442748725 0.056778779369818726" type="box" zaxis="0.0 0.0 1.0" /> <site name="object0" pos="0.01909230297620338 -0.012402927024188628 0.019014278667193248" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> <site name="handle0" pos="0.013696664997239023 -0.01361230940987098 0.03458306203381259" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
50.203704
220
0.656584
2fadbd6ffbe8c47e5f718199be5dfc93388bf1a2
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xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/3120_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/3120_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/3120_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/312/312.stl" name="obj0" scale="0.010229067351530919 0.010229067351530919 0.010229067351530919" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table0" pos="1.3 0.75 0.2"> <geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" /> </body> <body name="object0" pos="0.03625283248602705 0.07341707998760919 0.03343658100640459"> <joint damping="0.01" name="object0:joint" type="free" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="object0" pos="0.00014119122686745685 -0.017136879572806647 -0.0011540376438865217" rgba="1 0 0 0" size="0.018126416243013525 0.03670853999380459 0.016718290503202296" type="ellipsoid" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
43.170732
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0.670621
2faeeaa06cb69431f578f8689cd0517f203d90d9
1,768
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/9785_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/9785_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/9785_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/978/978.stl" name="obj0" scale="0.008065817386754742 0.008065817386754742 0.008065817386754742" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table0" pos="1.3 0.75 0.2"> <geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" /> </body> <body name="object0" pos="0.022810748604772498 0.05545947953179579 0.02342200850961032"> <joint damping="0.01" name="object0:joint" type="free" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="object0" pos="2.589989127078326e-06 0.001385886845190946 0.0001969731665485561" rgba="1 0 0 0" size="0.011405374302386249 0.027729739765897893 0.01171100425480516" type="ellipsoid" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
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5,619
xml
XML
mujoco/all_envs/halfcheetah/assets/half_cheetah_head_3.5.xml
EvieQ01/Learning-Feasibility-Different-Dynamics
73786b11137b8ba9840d00ec4d258c1296b0a595
[ "MIT" ]
null
null
null
mujoco/all_envs/halfcheetah/assets/half_cheetah_head_3.5.xml
EvieQ01/Learning-Feasibility-Different-Dynamics
73786b11137b8ba9840d00ec4d258c1296b0a595
[ "MIT" ]
null
null
null
mujoco/all_envs/halfcheetah/assets/half_cheetah_head_3.5.xml
EvieQ01/Learning-Feasibility-Different-Dynamics
73786b11137b8ba9840d00ec4d258c1296b0a595
[ "MIT" ]
null
null
null
<!-- Cheetah Model The state space is populated with joints in the order that they are defined in this file. The actuators also operate on joints. State-Space (name/joint/parameter): - rootx slider position (m) - rootz slider position (m) - rooty hinge angle (rad) - bthigh hinge angle (rad) - bshin hinge angle (rad) - bfoot hinge angle (rad) - fthigh hinge angle (rad) - fshin hinge angle (rad) - ffoot hinge angle (rad) - rootx slider velocity (m/s) - rootz slider velocity (m/s) - rooty hinge angular velocity (rad/s) - bthigh hinge angular velocity (rad/s) - bshin hinge angular velocity (rad/s) - bfoot hinge angular velocity (rad/s) - fthigh hinge angular velocity (rad/s) - fshin hinge angular velocity (rad/s) - ffoot hinge angular velocity (rad/s) Actuators (name/actuator/parameter): - bthigh hinge torque (N m) - bshin hinge torque (N m) - bfoot hinge torque (N m) - fthigh hinge torque (N m) - fshin hinge torque (N m) - ffoot hinge torque (N m) --> <mujoco model="cheetah"> <compiler angle="radian" coordinate="local" inertiafromgeom="true" settotalmass="14"/> <default> <joint armature=".1" damping=".01" limited="true" solimplimit="0 .8 .03" solreflimit=".02 1" stiffness="8"/> <geom conaffinity="0" condim="3" contype="1" friction=".4 .1 .1" rgba="0.8 0.6 .4 1" solimp="0.0 0.8 0.01" solref="0.02 1"/> <motor ctrllimited="true" ctrlrange="-1 1"/> </default> <size nstack="300000" nuser_geom="1"/> <option gravity="0 0 -9.81" timestep="0.01"/> <asset> <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/> <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/> <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/> <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/> <material name="geom" texture="texgeom" texuniform="true"/> </asset> <worldbody> <light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/> <geom conaffinity="1" condim="3" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane"/> <body name="torso" pos="0 0 .7"> <camera name="track" mode="trackcom" pos="0 -3 0.3" xyaxes="1 0 0 0 0 1"/> <joint armature="0" axis="1 0 0" damping="0" limited="false" name="rootx" pos="0 0 0" stiffness="0" type="slide"/> <joint armature="0" axis="0 0 1" damping="0" limited="false" name="rootz" pos="0 0 0" stiffness="0" type="slide"/> <joint armature="0" axis="0 1 0" damping="0" limited="false" name="rooty" pos="0 0 0" stiffness="0" type="hinge"/> <geom fromto="-.5 0 0 .5 0 0" name="torso" size="0.046" type="capsule"/> <geom axisangle="0 1 0 .87" name="head" pos=".85 0 .35" size="0.046 .525" type="capsule"/> <!-- <site name='tip' pos='.15 0 .11'/>--> <body name="bthigh" pos="-.5 0 0"> <joint axis="0 1 0" damping="6" name="bthigh" pos="0 0 0" range="-.52 1.05" stiffness="240" type="hinge"/> <geom axisangle="0 1 0 -3.8" name="bthigh" pos=".1 0 -.13" size="0.046 .145" type="capsule"/> <body name="bshin" pos=".16 0 -.25"> <joint axis="0 1 0" damping="4.5" name="bshin" pos="0 0 0" range="-.785 .785" stiffness="180" type="hinge"/> <geom axisangle="0 1 0 -2.03" name="bshin" pos="-.14 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .15" type="capsule"/> <body name="bfoot" pos="-.28 0 -.14"> <joint axis="0 1 0" damping="3" name="bfoot" pos="0 0 0" range="-.4 .785" stiffness="120" type="hinge"/> <geom axisangle="0 1 0 -.27" name="bfoot" pos=".03 0 -.097" rgba="0.9 0.6 0.6 1" size="0.046 .094" type="capsule"/> </body> </body> </body> <body name="fthigh" pos=".5 0 0"> <joint axis="0 1 0" damping="4.5" name="fthigh" pos="0 0 0" range="-1 .7" stiffness="180" type="hinge"/> <geom axisangle="0 1 0 .52" name="fthigh" pos="-.07 0 -.12" size="0.046 .133" type="capsule"/> <body name="fshin" pos="-.14 0 -.24"> <joint axis="0 1 0" damping="3" name="fshin" pos="0 0 0" range="-1.2 .87" stiffness="120" type="hinge"/> <geom axisangle="0 1 0 -.6" name="fshin" pos=".065 0 -.09" rgba="0.9 0.6 0.6 1" size="0.046 .106" type="capsule"/> <body name="ffoot" pos=".13 0 -.18"> <joint axis="0 1 0" damping="1.5" name="ffoot" pos="0 0 0" range="-.5 .5" stiffness="60" type="hinge"/> <geom axisangle="0 1 0 -.6" name="ffoot" pos=".045 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .07" type="capsule"/> </body> </body> </body> </body> </worldbody> <actuator> <motor gear="120" joint="bthigh" name="bthigh"/> <motor gear="90" joint="bshin" name="bshin"/> <motor gear="60" joint="bfoot" name="bfoot"/> <motor gear="120" joint="fthigh" name="fthigh"/> <motor gear="60" joint="fshin" name="fshin"/> <motor gear="30" joint="ffoot" name="ffoot"/> </actuator> </mujoco>
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XML
src/mtenv/local_dm_control_suite/cartpole_cart_mass_6.xml
NagisaZj/ac-teach
481811d5c80d0dbee54f16c063b4ea3262b82050
[ "MIT" ]
56
2021-02-11T19:15:17.000Z
2022-03-03T02:58:18.000Z
src/mtenv/local_dm_control_suite/cartpole_cart_mass_6.xml
NagisaZj/ac-teach
481811d5c80d0dbee54f16c063b4ea3262b82050
[ "MIT" ]
1
2021-04-12T11:20:16.000Z
2021-04-20T22:53:28.000Z
src/mtenv/local_dm_control_suite/cartpole_cart_mass_6.xml
NagisaZj/ac-teach
481811d5c80d0dbee54f16c063b4ea3262b82050
[ "MIT" ]
3
2021-02-27T11:46:16.000Z
2021-11-06T13:59:40.000Z
<mujoco model="cart-pole"> <include file="./common/skybox.xml"/> <include file="./common/visual.xml"/> <include file="./common/materials.xml"/> <option timestep="0.01" integrator="RK4"> <flag contact="disable" energy="enable"/> </option> <default> <default class="pole"> <joint type="hinge" axis="0 1 0" damping="2e-6"/> <geom type="capsule" fromto="0 0 0 0 0 1" size="0.045" material="self" mass=".1"/> </default> </default> <worldbody> <light name="light" pos="0 0 6"/> <camera name="fixed" pos="0 -4 1" zaxis="0 -1 0"/> <camera name="lookatcart" mode="targetbody" target="cart" pos="0 -2 2"/> <geom name="floor" pos="0 0 -.05" size="4 4 .2" type="plane" material="grid"/> <geom name="rail1" type="capsule" pos="0 .07 1" zaxis="1 0 0" size="0.02 2" material="decoration" /> <geom name="rail2" type="capsule" pos="0 -.07 1" zaxis="1 0 0" size="0.02 2" material="decoration" /> <body name="cart" pos="0 0 1"> <joint name="slider" type="slide" limited="true" axis="1 0 0" range="-1.8 1.8" solreflimit=".08 1" damping="5e-4"/> <geom name="cart" type="box" size="0.2 0.15 0.1" material="self" mass="3.5"/> <body name="pole_1" childclass="pole"> <joint name="hinge_1"/> <geom name="pole_1"/> </body> </body> </worldbody> <actuator> <motor name="slide" joint="slider" gear="10" ctrllimited="true" ctrlrange="-1 1" /> </actuator> </mujoco>
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xml
XML
envs/mujoco/envs/assets/peg/dual_peg_collision.xml
hzm2016/assistive-gym-robosuite
5c529f4444cc386383618bfa584341740a8468f9
[ "MIT" ]
1
2021-11-22T07:45:28.000Z
2021-11-22T07:45:28.000Z
envs/mujoco/envs/assets/peg/dual_peg_collision.xml
hzm2016/assistive-gym-robosuite
5c529f4444cc386383618bfa584341740a8468f9
[ "MIT" ]
null
null
null
envs/mujoco/envs/assets/peg/dual_peg_collision.xml
hzm2016/assistive-gym-robosuite
5c529f4444cc386383618bfa584341740a8468f9
[ "MIT" ]
null
null
null
<mujoco> <body name="peg" euler="0 0 0" pos="0 0 0.05"> <inertial pos="0 0 0" mass="1"/> <geom class="visual" type="cylinder" pos="0 0 0.01862" size="0.031 0.01862"/> <geom class="collision" type="cylinder" pos="0 0 0.01862" size="0.031 0.01862"/> <geom class="visual" type="box" pos="0 0 0.042" size="0.07 0.02541 0.00476"/> <geom class="collision" type="box" pos="0 0 0.042" size="0.07 0.02541 0.00476"/> <geom class="visual" type="cylinder" pos="-0.055 0 0.07789" size="0.01 0.03113"/> <geom name="peg_tip_left" class="collision" type="cylinder" pos="-0.055 0 0.07789" size="0.01 0.03113" friction="0.3 0.005 0.0001"/> <geom class="visual" type="cylinder" pos="0.055 0 0.07789" size="0.01 0.03113"/> <geom name="peg_tip_right" class="collision" type="cylinder" pos="0.055 0 0.07789" size="0.01 0.03113" friction="0.3 0.005 0.0001"/> <site name="peg_tip" pos="0 0 0.10902" euler="0 0 0" size="0.005, 0.005, 0.005"/> <site name="peg_ft_site" pos="0 0 0" euler="0 0 0" size="0.005, 0.005, 0.005"/> </body> </mujoco>
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XML
adept_envs/adept_models/kitchen/oven.xml
isabella232/DBAP-simulation
bdba0b58c4a01e0742e97299ce3bd1587ad2aa25
[ "Apache-2.0" ]
2
2021-08-09T23:45:17.000Z
2021-11-05T15:28:41.000Z
adept_envs/adept_models/kitchen/oven.xml
google-research/DBAP-simulation
bdba0b58c4a01e0742e97299ce3bd1587ad2aa25
[ "Apache-2.0" ]
1
2022-01-16T14:03:20.000Z
2022-01-16T14:03:20.000Z
adept_envs/adept_models/kitchen/oven.xml
isabella232/DBAP-simulation
bdba0b58c4a01e0742e97299ce3bd1587ad2aa25
[ "Apache-2.0" ]
2
2021-11-05T15:28:31.000Z
2022-01-16T12:00:17.000Z
<?xml version="1.0"?> <mujoco model="Oven"> <compiler angle="radian" meshdir="" texturedir=""/> <include file="../scenes/basic_scene.xml"/> <include file="../kitchen/assets/oven_asset.xml"/> <worldbody> <body> <include file="../kitchen/assets/oven_chain.xml"/> </body> </worldbody> </mujoco>
26.333333
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xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/5433_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/5433_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/5433_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/543/543.stl" name="obj0" scale="0.013803314417449272 0.013803314417449272 0.013803314417449272" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table0" pos="1.3 0.75 0.2"> <geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" /> </body> <body name="object0" pos="0.035109351369931006 0.09281250610760526 0.036068453967255845"> <joint damping="0.01" name="object0:joint" type="free" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="object0" pos="-0.0011620519713500105 -0.014325946331265067 0.0016105434725623411" rgba="1 0 0 0" size="0.017554675684965503 0.04640625305380263 0.018034226983627923" type="ellipsoid" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
43.195122
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0.670807
2fb54189e303fc8f24a427c61015daf74b6de8ad
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xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/7105_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/7105_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/7105_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/710/710.stl" name="obj0" scale="0.003635192382083421 0.003635192382083421 0.003635192382083421" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table0" pos="1.3 0.75 0.2"> <geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" /> </body> <body name="object0" pos="0.023223790052178145 0.025755076293209528 0.01192376181574039"> <joint damping="0.01" name="object0:joint" type="free" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="object0" pos="-0.008187353260973055 -0.016828788984054724 0.0026704279314116925" rgba="1 0 0 0" size="0.011611895026089072 0.012877538146604764 0.005961880907870195" type="ellipsoid" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
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xml
XML
herb_reconf/cluttered_scenes/grasping_vase_3_3_0.2_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/grasping_vase_3_3_0.2_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/grasping_vase_3_3_0.2_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
<?xml version="1.0" ?><mujoco model="scene"> <compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/> <option apirate="50" collision="predefined" cone="elliptic" impratio="10" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/> <size nconmax="10000" njmax="10000"/> <visual> <global offheight="800" offwidth="800"/> <quality shadowsize="2048"/> <headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/> <map force="0.1" zfar="30.0"/> <rgba haze="0.1499999 0.25 0.3499998 1"/> </visual> <statistic center="0.2 0 0.5" extent="10.0"/> <default> <default class="/"/> <default class="geom0"> <geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/> </default> <default class="herb/"> <joint damping="1.0"/> <default class="herb/viz"> <geom conaffinity="0" contype="0" group="1"/> </default> </default> <default 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1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_3" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="10000" name="herb/wam_1/p_j1_base_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="10000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/> <position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="10000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/> <position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="10000" name="herb/wam_1/p_j4_elbow_pitch_joint"/> <position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/> <position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/> <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" /> <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" /> <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" /> <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" /> <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" /> <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>--> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/> <!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/> <position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/> <position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/> <position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/> <position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>--> </actuator> </mujoco>
151.282575
19,113
0.689417
2fbd858c57cb9ffe0e6fc0c1afb1535ce925f0fb
1,455
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/7319_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/7319_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/7319_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/731/731.stl" name="obj0" scale="0.006798430580395996 0.006798430580395996 0.006798430580395996" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table" pos="1.3 0.75 0.2"> <joint damping="0.01" name="table:joint" type="free" /> <geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" /> <body name="switch" pos="0.014251060538682338 0.0452985412190696 0.23371204056599124"> <joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" /> </body> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> </mujoco>
38.289474
155
0.618557
2fbe4108d8ac5c862139858101c16692c2eb6048
2,722
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/2386_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/2386_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/2386_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/238/238.stl" name="obj0" scale="0.005780650472029854 0.005780650472029854 0.005780650472029854" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table0" pos="1.3 0.75 0.17"> <geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" /> </body> <body name="table_top" pos="1.3 0.75 0.36"> <joint damping="0.01" name="table_top:joint" type="free" /> <geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" /> <site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <body name="object0" pos="0.0179891992881418 0.04 0.01745389371248042" zaxis="0.0 0.0 1.0"> <joint damping="0.01" name="object0:joint" type="free" /> <geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="0.0 0.0 1.0" /> <geom condim="3" mass="2" material="block_mat" pos="-0.0017784701048117859 -0.0054741755998904415 0.024650029076754787" size="0.015599974122708844 0.013734148725452054 0.043280007960566705" type="box" zaxis="0.0 0.0 1.0" /> <site name="object0" pos="-0.0017690719939368704 -0.005986679202787056 -0.0011760851713315" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> <site name="handle0" pos="-0.0017784701048117859 -0.0054741755998904415 0.014650029076754785" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
50.407407
226
0.656503
2fbe90096bf011811dee386ca8cdde0cf5581476
1,770
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/8309_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/8309_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/8309_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/830/830.stl" name="obj0" scale="0.010809607530550833 0.010809607530550833 0.010809607530550833" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table0" pos="1.3 0.75 0.2"> <geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" /> </body> <body name="object0" pos="0.028962300362287686 0.09094553578312507 0.03353687762598291"> <joint damping="0.01" name="object0:joint" type="free" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="object0" pos="0.000543766853803793 -0.007958375368913646 -0.0005520807460539633" rgba="1 0 0 0" size="0.014481150181143843 0.045472767891562536 0.016768438812991455" type="ellipsoid" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
43.170732
200
0.670621
2fc0b20b2ba2e2a54921f4c04380e1780dca48b5
1,771
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/6951_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/6951_grasp.xml
Jekyll1021/gym
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Jekyll1021/gym
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Jekyll1021/gym
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NagisaZj/ac-teach
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NagisaZj/ac-teach
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2019-12-07T12:47:20.000Z
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assets/fetch_complex_objects/fetch/train_scene_hook_779.xml
NagisaZj/ac-teach
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2019-10-24T23:36:58.000Z
2022-01-27T13:36:39.000Z
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wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
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herb_reconf/cluttered_scenes/hard_pushing_lamp_3_2_1.0_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/hard_pushing_lamp_3_2_1.0_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
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pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/> <joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/> <geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/> <geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/> <body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0"> <inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/> <joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/> <body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683"> <inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/> <joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/> </body> </body> </body> <body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5"> <inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/> <joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/> <body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683"> <inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/> <joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body>--> </body> <light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/> </body> <!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998"> <geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/> <joint name="//unnamed_joint_2" class="/" type="free"/> </body> <body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998"> <geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/> <joint name="//unnamed_joint_3" class="/" type="free"/> </body> <body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998"> <geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/> <joint name="//unnamed_joint_4" class="/" type="free"/> </body> --> <!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998"> <geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/> <joint name="//unnamed_joint_5" class="/" type="free"/> </body>--> <!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998"> <geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/> <joint name="//unnamed_joint_6" class="/" type="free"/> </body>--> <!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998"> <geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325"> <geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/> <joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/> </body> <body name="target_obj" pos="0 0.0 0.325"> <geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/> </body>--> <!--<body name="gen_body_0" pos="0 0.0 0.3549998"> <geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/> <joint name="//unnamed_joint_0" class="/" type="free"/> </body>--> <!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998"> <geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/> </body>--> <!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!-- <body name="virt_box_2" pos="0 .45 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/> </body> <body name="virt_box_3" pos="0 0.57243499223068691 0.3549998"> <geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/> </body> --> <body euler="0 0 0.08727877406985834" name="gen_body_0" pos="0 0 0.5010347247123719"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.038561680881409655 0.780100460524675 0.09270375533413333 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 5.91339886636989" name="gen_body_gadded_1" pos="0.20694012874632903 0.0 0.3005347128816736"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.7147202738984523 0.47253660754463955 0.5565884808723606 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 2.606420038724487" name="gen_body_gadded_2" pos="0.3611264347609451 0.6886938207929225 0.3016851677267289"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.9361585360849233 0.4265743817355334 0.2530864507581302 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 5.076768607903772" name="gen_body_gadded_3" pos="-0.23640161967425524 0.42829796195242925 0.29986886206493074"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.013420609739402511 0.6484727848231905 0.8693687459490342 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 0.8690185799012617" name="gen_body_gadded_4" pos="0.04910516010871917 0.3239064368968057 0.3000884742322539"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.826511330419333 0.27168333373830145 0.836476440894443 1" type="mesh"/><joint class="/" name="gen_joint_gadded_4" type="free"/></body></worldbody> <contact> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/> <!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> --> <!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/> <exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/> <exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/> <exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/> <exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/> <exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/> <exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/> <exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>--> </contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/> <position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/> <position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/> <position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/> <position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/> <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" /> <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" /> <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" /> <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" /> <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" /> <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>--> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/> <!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/> <position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/> <position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/> <position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/> <position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>--> </actuator> </mujoco>
117.406433
1,609
0.687433
2fc9e7e85815e8e441db62ae4ec76eed79ec96ca
1,456
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/6666_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/6666_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/6666_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/666/666.stl" name="obj0" scale="0.006611301104776582 0.006611301104776582 0.006611301104776582" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table" pos="1.3 0.75 0.2"> <joint damping="0.01" name="table:joint" type="free" /> <geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" /> <body name="switch" pos="0.020564819013618875 0.04865356644216824 0.20558894272453615"> <joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" /> </body> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> </mujoco>
38.315789
155
0.618819
2fca224b962fa558784154f8bc24b20876d17ff7
1,455
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/6681_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/6681_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/6681_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/668/668.stl" name="obj0" scale="0.009199877596395529 0.009199877596395529 0.009199877596395529" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table" pos="1.3 0.75 0.2"> <joint damping="0.01" name="table:joint" type="free" /> <geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" /> <body name="switch" pos="0.01315721874430146 0.06439628201283622 0.22108941300711807"> <joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" /> </body> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> </mujoco>
38.289474
155
0.618557
2fcab5db60ba812de87c9bc293fd9362d35c03fc
2,724
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/1245_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/1245_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/1245_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
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kyuhoJeong11/GrewRL
a514698df8d38df34de0bd1667d99927f0aa3885
[ "MIT" ]
null
null
null
maml_rl_taewoo/vendor/mujoco_models/modified24.xml
kyuhoJeong11/GrewRL
a514698df8d38df34de0bd1667d99927f0aa3885
[ "MIT" ]
null
null
null
maml_rl_taewoo/vendor/mujoco_models/modified24.xml
kyuhoJeong11/GrewRL
a514698df8d38df34de0bd1667d99927f0aa3885
[ "MIT" ]
null
null
null
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gym/envs/robotics/assets/fetch/random_obj_xml/2315_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/2315_peg.xml
Jekyll1021/gym
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null
null
null
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Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/5393_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/5393_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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gym/envs/robotics/assets/fetch/random_obj_xml/6605_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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gym/envs/robotics/assets/fetch/random_obj_xml/6605_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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gym/envs/robotics/assets/fetch/random_obj_xml/9796_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/9796_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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Jekyll1021/gym
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gym/envs/robotics/assets/fetch/random_obj_xml/37_slide.xml
Jekyll1021/gym
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gym/envs/robotics/assets/fetch/random_obj_xml/37_slide.xml
Jekyll1021/gym
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gym/envs/robotics/assets/fetch/random_obj_xml/6913_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/6913_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/6913_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
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herb_reconf/cluttered_scenes/grasping_vase_2_3_0.8_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
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herb_reconf/cluttered_scenes/grasping_vase_2_3_0.8_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
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null
null
null
herb_reconf/cluttered_scenes/grasping_vase_2_3_0.8_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
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null
null
null
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0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_4" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="10000" name="herb/wam_1/p_j1_base_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="10000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/> <position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="10000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/> <position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="10000" name="herb/wam_1/p_j4_elbow_pitch_joint"/> <position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/> <position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/> <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" /> <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" /> <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" /> <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" /> <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" /> <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>--> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/> <!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/> <position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/> <position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/> <position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/> <position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>--> </actuator> </mujoco>
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XML
herb_reconf/cluttered_scenes/grasping_017_orange_3_0.5_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/grasping_017_orange_3_0.5_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/grasping_017_orange_3_0.5_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
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0.1 0.02" group="0" priority="10" type="mesh"/> </default> </default> <default class="herb/wam_1/bhand/"> <joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/> <default class="herb/wam_1/bhand/col"> <geom conaffinity="1" condim="4" contype="4" friction="2 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/> </default> <default class="herb/wam_1/bhand/viz"> <geom conaffinity="0" condim="4" contype="4" friction="2 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/> </default> </default> </default> <asset> <texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concrete_2d" type="2d"/> <texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concretecube" type="cube"/> <material class="/" name="concrete_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concrete_2d"/> <material class="/" name="concretecube" 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0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/> <!--<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>--> <!--<pair geom1="//unnamed_geom_8" geom2="tabletop" friction="1 1 0.005 0.0001 0.0001" />--> <!-- <pair geom1="//unnamed_geom_9" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> --> <pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" 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solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" 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0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 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geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" 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1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_4" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="10000" name="herb/wam_1/p_j1_base_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="10000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/> <position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="10000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/> <position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="10000" name="herb/wam_1/p_j4_elbow_pitch_joint"/> <position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/> <position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/> <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" /> <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" /> <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" /> <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" /> <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" /> <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>--> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/> <!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/> <position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/> <position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/> <position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/> <position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>--> </actuator> </mujoco>
158.905808
23,417
0.691029
2fddffbbe9f7ba0246b96a57ff2b64f8396448a8
1,457
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/2216_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/2216_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/2216_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/221/221.stl" name="obj0" scale="0.0071570099086015766 0.0071570099086015766 0.0071570099086015766" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table" pos="1.3 0.75 0.2"> <joint damping="0.01" name="table:joint" type="free" /> <geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" /> <body name="switch" pos="0.03739604595286969 0.0529045671453135 0.23676090426554075"> <joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" /> </body> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> </mujoco>
38.342105
155
0.61908
2fde8ad047420fc5cef5e329eeccb4edb00f70f9
1,772
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/7598_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/7598_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/7598_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/759/759.stl" name="obj0" scale="0.0039715649618545425 0.0039715649618545425 0.0039715649618545425" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table0" pos="1.3 0.75 0.2"> <geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" /> </body> <body name="object0" pos="0.016744860561826617 0.027065142892499006 0.02632880084809381"> <joint damping="0.01" name="object0:joint" type="free" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="object0" pos="0.0033350430034387157 0.004880429579411558 0.008340726876066143" rgba="1 0 0 0" size="0.008372430280913308 0.013532571446249503 0.013164400424046905" type="ellipsoid" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
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