hexsha
stringlengths 40
40
| size
int64 77
872k
| ext
stringclasses 3
values | lang
stringclasses 1
value | max_stars_repo_path
stringlengths 7
140
| max_stars_repo_name
stringclasses 719
values | max_stars_repo_head_hexsha
stringclasses 719
values | max_stars_repo_licenses
sequencelengths 1
4
| max_stars_count
int64 1
82.5k
⌀ | max_stars_repo_stars_event_min_datetime
stringclasses 403
values | max_stars_repo_stars_event_max_datetime
stringclasses 403
values | max_issues_repo_path
stringlengths 7
140
| max_issues_repo_name
stringclasses 719
values | max_issues_repo_head_hexsha
stringclasses 719
values | max_issues_repo_licenses
sequencelengths 1
4
| max_issues_count
int64 1
9.02k
⌀ | max_issues_repo_issues_event_min_datetime
stringclasses 213
values | max_issues_repo_issues_event_max_datetime
stringclasses 213
values | max_forks_repo_path
stringlengths 7
140
| max_forks_repo_name
stringclasses 721
values | max_forks_repo_head_hexsha
stringclasses 721
values | max_forks_repo_licenses
sequencelengths 1
4
| max_forks_count
int64 1
54.3k
⌀ | max_forks_repo_forks_event_min_datetime
stringclasses 319
values | max_forks_repo_forks_event_max_datetime
stringclasses 319
values | content
stringlengths 77
872k
| avg_line_length
float64 14.5
8.75k
| max_line_length
int64 33
198k
| alphanum_fraction
float64 0.12
0.83
|
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
40b7da6e001471a0f03c853e6d10e6a80d98a8ca | 1,455 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/9322_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9322_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9322_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/932/932.stl" name="obj0" scale="0.013811582984417295 0.013811582984417295 0.013811582984417295" />
</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="0.03761426483180879 0.08047675855290885 0.22740164889513903">
<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 |
40b8861b8be6b07d0fb44d11e32748b880dc6032 | 1,768 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/6122_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6122_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6122_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/612/612.stl" name="obj0" scale="0.005540124935403808 0.005540124935403808 0.005540124935403808" />
</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="0.027339596895478515 0.04427681975693308 0.03286735904208897">
<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="-0.004953039637536211 -0.006801531047798156 0.010078112134293767" rgba="1 0 0 0" size="0.013669798447739257 0.02213840987846654 0.016433679521044485" 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> | 43.121951 | 198 | 0.670249 |
40b900054849ed60596e004da56e47e2aa871bb0 | 1,456 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3206_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3206_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3206_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/320/320.stl" name="obj0" scale="0.005707359563810508 0.005707359563810508 0.005707359563810508" />
</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="0.034078073219556165 0.03396104951905979 0.21827476841941632">
<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 |
40b9cfbd06724240c1a456d121a9664052f79d11 | 1,911 | xml | XML | model_mujoco/LISM_Arm/assets/actuator.xml | Stylite-Y/XArm-Simulation | 654dca390e635b6294a8b5066727d0f4d6736eb1 | [
"MIT"
] | null | null | null | model_mujoco/LISM_Arm/assets/actuator.xml | Stylite-Y/XArm-Simulation | 654dca390e635b6294a8b5066727d0f4d6736eb1 | [
"MIT"
] | null | null | null | model_mujoco/LISM_Arm/assets/actuator.xml | Stylite-Y/XArm-Simulation | 654dca390e635b6294a8b5066727d0f4d6736eb1 | [
"MIT"
] | null | null | null | <mujocoinclude>
<!-- =================================================
Copyright 2021 Yanyan Yuan
Model :: LISNM_Arm (MuJoCoV2.0)
Author :: Yanyan Yuan ([email protected])
source :: https://github.com/stylite-y/LISM
License :: Under Apache License, Version 2.0 (the "License");
Description :: this file is the definition of actuator settings .xml file
====================================================== -->
<actuator>
<position name="LISM_joint1" joint="motor1_motor2" class="LISM" kp="870" forcerange="-87 87" ctrlrange="-2.9671 2.9671"/> <!-- velocity="2.1750" -->
<position name="LISM_joint2" joint="motor2_motor3" class="LISM" kp="870" forcerange="-87 87" ctrlrange="-1.8326 1.8326"/> <!-- velocity="2.1750" -->
<position name="LISM_joint3" joint="motor3_upper" class="LISM" kp="870" forcerange="-87 87" ctrlrange="-2.9671 2.9671"/> <!-- velocity="2.1750" -->
<position name="LISM_joint4" joint="upper_lower" class="LISM" kp="870" forcerange="-87 87" ctrlrange="-3.1416 0.0"/> <!-- velocity="2.1750" -->
<position name="LISM_joint5" joint="lower_wrist_x" class="LISM" kp="120" forcerange="-12 12" ctrlrange="-2.9671 2.9671"/> <!-- velocity="2.6100" -->
<position name="LISM_joint6" joint="lower_wrist_y" class="LISM" kp="120" forcerange="-12 12" ctrlrange="-1.66 2.1817"/> <!-- velocity="2.6100" -->
<position name="LISM_joint7" joint="lower_wrist_z" class="LISM" kp="120" forcerange="-12 12" ctrlrange="-2.9671 2.9671"/> <!-- velocity="2.9671" -->
<position name="r_gripper_gripper_joint" joint="gripper_left" class="LISM_gripper" kp="500" forcerange="-70 70" ctrlrange="0 0.04"/> <!-- velocity=".2" -->
<position name="l_gripper_gripper_joint" joint="gripper_right" class="LISM_gripper" kp="500" forcerange="-70 70" ctrlrange="0 0.04"/> <!-- velocity=".2" -->
</actuator>
</mujocoinclude> | 86.863636 | 164 | 0.615908 |
40ba1a8cc7ab76359d46703fe44b8a0b60cc588e | 1,455 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7736_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7736_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7736_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/773/773.stl" name="obj0" scale="0.007254356815645846 0.007254356815645846 0.007254356815645846" />
</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="0.03371731829427108 0.04763062696274023 0.21882756231688077">
<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 |
40ba4e9660c2044c09980c85b7818c1328f8dd49 | 2,729 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/519_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/519_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/519_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/051/051.stl" name="obj0" scale="0.0066431068880880625 0.0066431068880880625 0.0066431068880880625" />
</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="0.016565214799048506 0.04 0.018883572742601693" 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="0.00047844207249982194 -0.008509266796411685 0.037387370710255274" size="0.018094983584589185 0.014998403787470454 0.055562009413734556" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="-5.062505848375627e-05 -0.008274813959987882 -0.0016094239044307714" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.00047844207249982194 -0.008509266796411685 0.027387370710255276" 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> | 50.537037 | 225 | 0.65775 |
40bb6e55bfa6880e4295db7d4f2dc30c7b704758 | 77,302 | xml | XML | herb_reconf/cluttered_scenes/grasping_057_racquetball_0_0.3_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_0.3_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_0.3_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 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" friction="2 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" 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 file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="ycb_objects/057_racquetball/google_16k/nontextured.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/021_bleach_cleanser/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="1.6038315398942449 1.6038315398942449 1.6038315398942449"/><mesh class="geom0" file="ycb_objects/077_rubiks_cube/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="0.9467544978563415 0.9467544978563415 0.9467544978563415"/><mesh class="geom0" file="ycb_objects/035_power_drill/google_16k/nontextured.stl" name="gen_mesh_gadded_3" scale="1.7510300220746147 1.7510300220746147 1.7510300220746147"/><mesh class="geom0" file="ycb_objects/024_bowl/google_16k/nontextured.stl" name="gen_mesh_gadded_4" scale="0.5283375510478371 0.5283375510478371 0.5283375510478371"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="cam_target"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="table"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" name="table_plane" pos="0 0 0.3" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.6999996 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="0 0 0.45">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" 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/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" 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" euler="0 0 0.5">
<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="box_0" pos="0.175 0.0 0.3725">
<geom name="box_geom_0" class="/" type="box" group="1" size="0.055 0.055 0.065" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="target_obj" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_15" class="geom0" type="box" 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 4.113442321038367" name="gen_body_0" pos="0 0 0.3001909999991767"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.12032218621632607 0.9399496464881302 0.8978042119194025 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 3.5709410519252676" name="gen_body_gadded_1" pos="0.15919776369849697 0.0 0.30344318920295016"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.776372394365744 0.12721485786224984 0.7978656505759597 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 3.0636026542668984" name="gen_body_gadded_2" pos="-0.015193972332688932 -0.15795723100451914 0.3003566745696752"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.35639827224449205 0.8184602549411094 0.3435138821068924 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 2.1987834827447004" name="gen_body_gadded_3" pos="0.48504538693345156 0.07277489378985692 0.30535633225792574"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.8652386411993707 0.908245904136392 0.30040824249401354 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 1.6161591630330052" name="gen_body_gadded_4" pos="-0.23169057306106497 -0.4430567872637335 0.2990602595106828"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.9235186742510545 0.2046640297740041 0.23038377464429016 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="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> | 121.353218 | 1,617 | 0.684769 |
40bec64fd2a8df461de286c40fb00cd5adae9ce9 | 79,296 | xml | XML | herb_reconf/cluttered_scenes/easy_pushing_cup_2_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/easy_pushing_cup_2_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/easy_pushing_cup_2_2_0.4_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 file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<!--<mesh name="mustard" class="/" file="ycb_objects/006_mustard_bottle/google_16k/textured.msh"/>
<texture name="mustard_tex" type="2d" file="ycb_objects/006_mustard_bottle/google_16k/texture_map.png"/>
<material name="mustard_mat" class="/" texture="mustard_tex"/>-->
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="downloaded_assets/cup_2/scene.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/019_pitcher_base/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="1.386286943647672 1.386286943647672 1.386286943647672"/><mesh class="geom0" file="ycb_objects/056_tennis_ball/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="0.6105973115301734 0.6105973115301734 0.6105973115301734"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="table"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="cam_target"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" friction="0.67 0.005 0.0001" name="table_plane" pos="0 0 0.3" priority="20" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.5 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="-.2 -0.2 0.29">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" 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/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" 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 1.1177909317424577" name="gen_body_0" pos="-0.05 -0.35 0.49873976707458495"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.266747486933839 0.48124927613166235 0.7591999768605492 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 4.863841625473886" name="gen_body_gadded_1" pos="0.09795707871307295 -0.35 0.31224776376882174"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.11163259940429038 0.6427569089205535 0.5997032866533356 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 0.8189622354572235" name="gen_body_gadded_2" pos="0.01346887000763261 -0.35489879556145676 0.30005847743868314"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.22663822618387763 0.45091137630930533 0.14463997781834803 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> | 115.929825 | 956 | 0.685886 |
40c0d1f07a69b371c36830e036c05f0ccd47fc93 | 4,048 | xml | XML | data/Dbar/dbarauto.xml | rwang0417/d2c_mujoco200 | 84609fbb14dc38dadf35193d0c7c4431e6f22913 | [
"MIT"
] | 2 | 2020-02-24T00:15:39.000Z | 2020-09-02T03:20:46.000Z | data/Dbar/dbarauto.xml | rwang0417/d2c_mujoco200 | 84609fbb14dc38dadf35193d0c7c4431e6f22913 | [
"MIT"
] | null | null | null | data/Dbar/dbarauto.xml | rwang0417/d2c_mujoco200 | 84609fbb14dc38dadf35193d0c7c4431e6f22913 | [
"MIT"
] | 3 | 2019-08-05T20:21:04.000Z | 2020-09-02T03:20:49.000Z | <mujoco model="dbar">
<!-- Copyright © 2018, Roboti LLC
This file is licensed under the MuJoCo Resource License (the "License").
You may not use this file except in compliance with the License.
You may obtain a copy of the License at
https://www.roboti.us/resourcelicense.txt
-->
<option timestep="0.02" iterations="50" solver="Newton" tolerance="1e-10" gravity = "0 0 0" collision="predefined" viscosity=".5"/>
<size njmax="100" nconmax="40" nstack="4000"/>
<visual>
<rgba haze=".3 .3 .3 1"/>
</visual>
<default>
<position ctrllimited="false" ctrlrange="-1 1" gear="1.0"/>
<tendon damping="2"/>
<geom size="0.02"/>
<site size="0.04"/>
</default>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.6 0.6 0.6" rgb2="0 0 0" width="512" height="512"/>
<texture name="texplane" type="2d" builtin="checker" rgb1=".25 .25 .25" rgb2=".3 .3 .3" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
<material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
</asset>
<worldbody>
<body name="floor" pos="0 0 0">
<geom name="floor" pos="0 0 0" size="0 0 1" type="plane" material="matplane"/>
<site name="s4" pos="0 2 0"/>
<site name="s5" pos="0 -2 0"/>
<site name="target" pos="0 0 2.5" size="0.06" rgba="1 0 0 .3"/>
</body>
<light directional="true" diffuse=".8 .8 .8" specular=".2 .2 .2" pos="0 0 5" dir="0 0 -1"/>
<body name="bar1" pos="0 0 0">
<geom name="bar1" type="capsule" fromto="0 0 0 0 -1 1" rgba=".5 .1 .1 1"/>
<joint type="free" pos="0 0 0"/>
<site name="s1s" pos="0 0 0"/>
<site name="s1e" pos="0 -1 1"/>
</body>
<body name="bar2" pos="0 -1 1">
<geom name="bar2" type="capsule" fromto="0 0 0 0 1 1" rgba=".5 .1 .1 1"/>
<joint type="free" pos="0 0 0"/>
<site name="s2s" pos="0 0 0"/>
<site name="s2e" pos="0 1 1"/>
</body>
<body name="bar3" pos="0 0 2">
<geom name="bar3" type="capsule" fromto="0 0 0 0 1 -1" rgba=".5 .1 .1 1"/>
<joint type="free" pos="0 0 0"/>
<site name="s3s" pos="0 0 0"/>
<site name="s3e" pos="0 1 -1"/>
</body>
<body name="bar4" pos="0 1 1">
<geom name="bar4" type="capsule" fromto="0 0 0 0 -1 -1" rgba=".5 .1 .1 1"/>
<joint type="free" pos="0 0 0"/>
<site name="s4s" pos="0 0 0"/>
<site name="s4e" pos="0 -1 -1"/>
</body>
</worldbody>
<equality>
<connect active="true" name='lbarf1' body1='floor' body2='bar1' anchor='-0.05 0 0'/>
<connect active="true" name='rbarf1' body1='floor' body2='bar1' anchor='0.05 0 0'/>
<connect active="true" name='lbar12' body1='bar1' body2='bar2' anchor='-0.05 -1 1'/>
<connect active="true" name='rbar12' body1='bar1' body2='bar2' anchor='0.05 -1 1'/>
<connect active="true" name='lbar23' body1='bar2' body2='bar3' anchor='-0.05 1 1'/>
<connect active="true" name='rbar23' body1='bar2' body2='bar3' anchor='0.05 1 1'/>
<connect active="true" name='lbar34' body1='bar3' body2='bar4' anchor='-0.05 1 -1'/>
<connect active="true" name='rbar34' body1='bar3' body2='bar4' anchor='0.05 1 -1'/>
<connect active="true" name='lbar41' body1='bar4' body2='bar1' anchor='-0.05 -1 -1'/>
<connect active="true" name='rbar41' body1='bar4' body2='bar1' anchor='0.05 -1 -1'/>
</equality>
<tendon>
<spatial name="S1" width="0.02">
<site site="s1s"/>
<site site="s2e"/>
</spatial>
<spatial name="S2" width="0.02">
<site site="s1e"/>
<site site="s3e"/>
</spatial>
<spatial name="S3" width="0.02">
<site site="s3e"/>
<site site="s4"/>
</spatial>
<spatial name="S4" width="0.02">
<site site="s1e"/>
<site site="s5"/>
</spatial>
</tendon>
<actuator>
<position tendon="S1" kp="1"/>
<position tendon="S2" kp="1"/>
<position tendon="S3" kp="1"/>
<position tendon="S4" kp="1"/>
</actuator>
</mujoco>
| 36.468468 | 154 | 0.558794 |
40c19364b903a502956a9fe9561b8226239f1b2f | 2,714 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/1191_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1191_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1191_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/119/119.stl" name="obj0" scale="0.006203496554306611 0.006203496554306611 0.006203496554306611" />
</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="0.02097692198474979 0.04 0.01196848964942723" 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="0.00643970993669969 -0.005885112275915436 0.03883229208294968" size="0.019686275714850144 0.013988253569357874 0.05204062327267087" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="0.007220201272004068 -0.009492058390259517 -0.0012398415402939706" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.00643970993669969 -0.005885112275915436 0.028832292082949674" 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 | 220 | 0.656595 |
40c27e7298f2175013d0351ba2c4481457a88946 | 91,708 | xml | XML | herb_reconf/cluttered_scenes/grasping_004_sugar_box_3_0.3_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/grasping_004_sugar_box_3_0.3_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/grasping_004_sugar_box_3_0.3_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 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" friction="2 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" 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 file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="ycb_objects/004_sugar_box/google_16k/nontextured.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="downloaded_assets/vase_3/scene.stl" name="gen_mesh_gadded_1" scale="1.2499357931108739 1.2499357931108739 1.2499357931108739"/><mesh class="geom0" file="downloaded_assets/maytoni/scene.stl" name="gen_mesh_gadded_2" scale="0.6882237223328886 0.6882237223328886 0.6882237223328886"/><mesh class="geom0" file="ycb_objects/077_rubiks_cube/google_16k/nontextured.stl" name="gen_mesh_gadded_3" scale="0.8534074451964235 0.8534074451964235 0.8534074451964235"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="cam_target"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="table"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" name="table_plane" pos="0 0 0.3" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.6999996 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="0 0 0.45">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" 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/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" 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" euler="0 0 0.5">
<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="box_0" pos="0.175 0.0 0.3725">
<geom name="box_geom_0" class="/" type="box" group="1" size="0.055 0.055 0.065" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="target_obj" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_15" class="geom0" type="box" 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 1.8827137833543086" name="gen_body_0" pos="0 0 0.2999690000004193"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.7614467450605383 0.7025284901000577 0.5881855465234198 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 5.8785442129219" name="gen_body_gadded_1" pos="0.26415898096582496 0.04892566007098642 0.5070100509465781"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.5963497108892797 0.7051108210617693 0.8427196143165524 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 5.393201259059291" name="gen_body_gadded_2" pos="-0.33361690209653266 0.3397549607308834 0.48721231232964907"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.5845107811843158 0.8708633958073146 0.6790157385111997 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 5.722492740707865" name="gen_body_gadded_3" pos="-0.4204413998210136 0.2984354883774115 0.30032150750210235"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.9035350708993353 0.4446796040056955 0.6032564230751611 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="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" /> -->
<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"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" 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_3" 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_3" 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_3" 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_3" 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_3" 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_3" 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_3" 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_3" 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_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 0.04 0.04" geom1="gen_geom_gadded_3" 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_3" 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_3" 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_3" 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_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"/></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> | 143.968603 | 14,960 | 0.687803 |
40c5075546013978aaef90229a2391240cbe6087 | 109,204 | xml | XML | herb_reconf/cluttered_scenes/hard_pushing_002_master_chef_can_4_0.0_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/hard_pushing_002_master_chef_can_4_0.0_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/hard_pushing_002_master_chef_can_4_0.0_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 file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<!--<mesh name="mustard" class="/" file="ycb_objects/006_mustard_bottle/google_16k/textured.msh"/>
<texture name="mustard_tex" type="2d" file="ycb_objects/006_mustard_bottle/google_16k/texture_map.png"/>
<material name="mustard_mat" class="/" texture="mustard_tex"/>-->
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="ycb_objects/002_master_chef_can/google_16k/nontextured.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/019_pitcher_base/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="1.5343640495134796 1.5343640495134796 1.5343640495134796"/><mesh class="geom0" file="ycb_objects/055_baseball/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="0.558981955769277 0.558981955769277 0.558981955769277"/><mesh class="geom0" file="ycb_objects/061_foam_brick/google_16k/nontextured.stl" name="gen_mesh_gadded_3" scale="1.445804492819133 1.445804492819133 1.445804492819133"/><mesh class="geom0" file="ycb_objects/057_racquetball/google_16k/nontextured.stl" name="gen_mesh_gadded_4" scale="1.7619103733421246 1.7619103733421246 1.7619103733421246"/><mesh class="geom0" file="ycb_objects/056_tennis_ball/google_16k/nontextured.stl" name="gen_mesh_gadded_5" scale="1.6609184382366526 1.6609184382366526 1.6609184382366526"/><mesh class="geom0" file="ycb_objects/014_lemon/google_16k/nontextured.stl" name="gen_mesh_gadded_6" scale="1.9847472758017588 1.9847472758017588 1.9847472758017588"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="table"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="cam_target"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" friction="0.67 0.005 0.0001" name="table_plane" pos="0 0 0.3" priority="20" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.5 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="-.2 -0.2 0.29">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" 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/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" 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 2.3228587073930917" name="gen_body_0" pos="0 0 0.30018699999782256"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.9545458695288016 0.13751674343213227 0.8545666676191325 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 4.762764023889958" name="gen_body_gadded_1" pos="0.15299787074401872 0.033777095211276933 0.31355601556022034"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.08216956649278973 0.887527470631176 0.701761788668669 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 4.077715402171407" name="gen_body_gadded_2" pos="-0.2634421387596701 0.3093672099647945 0.3001066234914884"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.12527617818800685 0.2135447934664474 0.936037184541042 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 2.781620128828336" name="gen_body_gadded_3" pos="-0.0015561262916730795 -0.191525307325661 0.30172385233417026"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.36411881175748806 0.6999337069147745 0.722239219609214 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 5.33950781583855" name="gen_body_gadded_4" pos="0.5419554090130325 0.1379302435934366 0.3003361315175154"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.08212990385658026 0.23394807148398922 0.058965510975601654 1" type="mesh"/><joint class="/" name="gen_joint_gadded_4" type="free"/></body><body euler="0 0 1.877470829876919" name="gen_body_gadded_5" pos="0.17411354749412608 -0.21593680623305356 0.30015906751095167"><geom class="/" mesh="gen_mesh_gadded_5" name="gen_geom_gadded_5" rgba="0.6919037240412038 0.8180450745192834 0.6258949657564996 1" type="mesh"/><joint class="/" name="gen_joint_gadded_5" type="free"/></body><body euler="0 0 4.504351745176445" name="gen_body_gadded_6" pos="-0.3426458783534263 -0.30557736883013675 0.30046137623306046"><geom class="/" mesh="gen_mesh_gadded_6" name="gen_geom_gadded_6" rgba="0.21526421499342918 0.8696795679055805 0.7527343161261024 1" type="mesh"/><joint class="/" name="gen_joint_gadded_6" 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"/>-->
<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"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" 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_3" 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_3" 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_3" 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_3" 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_3" 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_3" 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_3" 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_3" 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_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 0.04 0.04" geom1="gen_geom_gadded_3" 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_3" 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_3" 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_3" 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_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"/><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"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" 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_6" 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_6" 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_6" 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_6" 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_6" 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_6" 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_6" 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_6" 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_6" 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_6" 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_6" 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_6" 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_6" 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_6" 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_6" 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_6" 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_6" 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_6" 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_6" 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_6" 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_6" 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_6" 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_6" 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_6" 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_6" 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_6" 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_6" geom2="gen_geom_gadded_4" 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_6" geom2="gen_geom_gadded_5" 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> | 159.654971 | 27,872 | 0.694178 |
40c6a9d738d804e000307b11ecf864cf130fc0a3 | 1,769 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7649_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7649_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7649_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/764/764.stl" name="obj0" scale="0.010647656897855863 0.010647656897855863 0.010647656897855863" />
</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="0.03633199342897671 0.07765051350784262 0.022222996226765865">
<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="0.0022486793491738825 0.019342589706061026 -0.0006824919219826296" rgba="1 0 0 0" size="0.018165996714488354 0.03882525675392131 0.011111498113382932" 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> | 43.146341 | 199 | 0.671001 |
40c91a22419ef185fc4d1fad80bc1cc182fe8bde | 1,765 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/4645_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4645_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4645_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/464/464.stl" name="obj0" scale="0.008704782883603159 0.008704782883603159 0.008704782883603159" />
</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="0.02480125826716659 0.062305314796155 0.029464545382047496">
<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="0.0012702187266309796 0.0015508511391989193 0.002587331943120508" rgba="1 0 0 0" size="0.012400629133583295 0.0311526573980775 0.014732272691023748" 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> | 43.04878 | 197 | 0.670822 |
40cd4bc5b92a061489ce6521577a6b1f8524a49e | 1,455 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/2997_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2997_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2997_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/299/299.stl" name="obj0" scale="0.009450308630557337 0.009450308630557337 0.009450308630557337" />
</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="0.03233544534411095 0.08267911058019874 0.22445766806967837">
<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 |
40cfc9dc58bc1b155eae7565128f6a58d196239f | 1,766 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/1450_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1450_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1450_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/145/145.stl" name="obj0" scale="0.00769844913635627 0.00769844913635627 0.00769844913635627" />
</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="0.0225568755350018 0.06863708221113443 0.026629251199070926">
<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="-0.0040306129597917125 -0.042167184064147205 -0.0025679554659901738" rgba="1 0 0 0" size="0.0112784377675009 0.034318541105567216 0.013314625599535463" 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> | 43.073171 | 200 | 0.669309 |
40d27751fbd1d0f6965c545bbe9107369497e54c | 1,763 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/5227_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5227_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5227_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/522/522.stl" name="obj0" scale="0.00531573344516585 0.00531573344516585 0.00531573344516585" />
</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="0.02915382910960556 0.0447422041482208 0.026025302032054207">
<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="-0.004642862464224038 -0.003468592744331762 -0.004092993556958565" rgba="1 0 0 0" size="0.01457691455480278 0.0223711020741104 0.013012651016027103" 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 | 197 | 0.668746 |
40d2a01e78b275cad6a401d0fddfa231ff31e5e3 | 1,767 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7484_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7484_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7484_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/748/748.stl" name="obj0" scale="0.013466988647495506 0.013466988647495506 0.013466988647495506" />
</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="0.0340760667877981 0.09138124129124635 0.028989820847940377">
<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="0.001460315598210545 -0.01692769755426607 -0.0012672390931294595" rgba="1 0 0 0" size="0.01703803339389905 0.045690620645623174 0.014494910423970189" 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 |
40d33a30ec28789cd60708728c51d350cf24c7c6 | 1,770 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3485_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3485_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3485_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/348/348.stl" name="obj0" scale="0.006419112177804489 0.006419112177804489 0.006419112177804489" />
</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="0.027433764118350246 0.04056410301183458 0.015380411027833604">
<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="-0.004198145063544528 -0.004653998157895669 -0.004209164314283191" rgba="1 0 0 0" size="0.013716882059175123 0.02028205150591729 0.007690205513916802" 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 | 199 | 0.670056 |
40d35b1c8355226d464e9aeb2e17946873e8944f | 1,774 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7733_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7733_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7733_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/773/773.stl" name="obj0" scale="0.0069447092868905385 0.0069447092868905385 0.0069447092868905385" />
</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="0.03227811637032386 0.04559754445702875 0.01802391999653957">
<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="-0.0021820148952260182 -0.0005601921042711037 -0.0007627900137416531" rgba="1 0 0 0" size="0.01613905818516193 0.022798772228514376 0.009011959998269784" 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> | 43.268293 | 202 | 0.6708 |
40d3d6cb7d6c8db34d2cd6622f6c34169857434c | 2,716 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/4531_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4531_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4531_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/453/453.stl" name="obj0" scale="0.005406340921560819 0.005406340921560819 0.005406340921560819" />
</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 0.037097451795543815 0.02276756133274143" 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="0.001600000051721545 0.006802319501656939 0.03048743770690704" size="0.033489389666990714 0.02227094571638756 0.054839615181641724" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="-0.0002691002076757114 -0.002121334515986561 -0.001584616141993257" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.001600000051721545 0.006802319501656939 0.020487437706907037" 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 | 220 | 0.657216 |
40d42aab4151389aa74f72d64452ab346253fe36 | 1,766 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3377_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3377_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3377_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/337/337.stl" name="obj0" scale="0.012218717221826856 0.012218717221826856 0.012218717221826856" />
</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="0.030729945516363714 0.0888327378830356 0.03394401187862055">
<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="0.000473713997921292 -0.014137636176798078 0.0019867498484222065" rgba="1 0 0 0" size="0.015364972758181857 0.0444163689415178 0.016972005939310274" 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> | 43.073171 | 197 | 0.670442 |
40d68dc2fcb6dbcb1adcb8867ebef6f3e483da72 | 1,765 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7679_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7679_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7679_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/767/767.stl" name="obj0" scale="0.01145617465770004 0.01145617465770004 0.01145617465770004" />
</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="0.01715202431106329 0.07963678474460113 0.03074271343098601">
<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="0.0006381764281541809 0.02542206579758032 -0.0007086307532475274" rgba="1 0 0 0" size="0.008576012155531646 0.039818392372300566 0.015371356715493004" 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> | 43.04878 | 199 | 0.670255 |
40d70f969c18cd19eb68de3d2759a09a23409c50 | 1,766 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/2449_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2449_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2449_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/244/244.stl" name="obj0" scale="0.003681700484533752 0.003681700484533752 0.003681700484533752" />
</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="0.00944414345150563 0.03184739214665684 0.022842795870898238">
<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="0.0026155473755302672 -0.0187458849724898 0.008702965221968529" rgba="1 0 0 0" size="0.004722071725752815 0.01592369607332842 0.011421397935449119" 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> | 43.073171 | 196 | 0.670442 |
40d77e5f3351f4923e41b0b5aafe9658f0a90a47 | 2,720 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3134_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3134_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3134_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/313/313.stl" name="obj0" scale="0.003958860707189103 0.003958860707189103 0.003958860707189103" />
</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="0.028956288932302194 0.04 0.016172755575882106" 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="0.009122571563354385 -0.013838457410904878 0.02913464243154879" size="0.013066884017336529 0.011603862807602299 0.04547484854071149" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="-0.002225908862950454 -0.013419991351860474 -0.00016745053328059335" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.009122571563354385 -0.013838457410904878 0.019134642431548787" 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> | 50.37037 | 221 | 0.656985 |
40d87b215ff90434d478ec24b032735da042c202 | 1,453 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/5214_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5214_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5214_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/521/521.stl" name="obj0" scale="0.01195104460573403 0.01195104460573403 0.01195104460573403" />
</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="0.038722328655102105 0.08590767003730872 0.22063738650338588">
<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 |
40de82d2c7a0e8d1b64f5994c6b2dcb5863ff4b8 | 1,456 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/2044_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2044_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2044_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/204/204.stl" name="obj0" scale="0.007847208716531598 0.007847208716531598 0.007847208716531598" />
</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="0.037878829599090266 0.07502968541636097 0.23963788344661416">
<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 |
40dedc93914815df238aa3f53bee3c8cc62f39bc | 2,725 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/4376_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4376_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4376_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/437/437.stl" name="obj0" scale="0.006617166401966225 0.006617166401966225 0.006617166401966225" />
</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="0.0067461812953053596 0.04 0.01971544364750785" 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="-7.134625038535976e-05 6.279072077409771e-05 0.03988006094500084" size="0.011778667123165283 0.015607795345467228 0.046635656103315076" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="-3.500002140199491e-05 -1.668228638077971e-05 -9.413863008873358e-06" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-7.134625038535976e-05 6.279072077409771e-05 0.02988006094500084" 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> | 50.462963 | 224 | 0.655046 |
40dfb00b86de4426abcdcf9a8ac2790b2cb62150 | 81,317 | xml | XML | herb_reconf/cluttered_scenes/hard_pushing_lamp_3_1_0.8_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_0.8_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_0.8_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 file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<!--<mesh name="mustard" class="/" file="ycb_objects/006_mustard_bottle/google_16k/textured.msh"/>
<texture name="mustard_tex" type="2d" file="ycb_objects/006_mustard_bottle/google_16k/texture_map.png"/>
<material name="mustard_mat" class="/" texture="mustard_tex"/>-->
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="downloaded_assets/lamp_3/scene.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/004_sugar_box/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="0.9421166970760484 0.9421166970760484 0.9421166970760484"/><mesh class="geom0" file="ycb_objects/056_tennis_ball/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="0.9506145340497214 0.9506145340497214 0.9506145340497214"/><mesh class="geom0" file="ycb_objects/002_master_chef_can/google_16k/nontextured.stl" name="gen_mesh_gadded_3" scale="0.5007932167539141 0.5007932167539141 0.5007932167539141"/><mesh class="geom0" file="ycb_objects/021_bleach_cleanser/google_16k/nontextured.stl" name="gen_mesh_gadded_4" scale="1.8046776265957722 1.8046776265957722 1.8046776265957722"/><mesh class="geom0" file="ycb_objects/011_banana/google_16k/nontextured.stl" name="gen_mesh_gadded_5" scale="1.3945762590644133 1.3945762590644133 1.3945762590644133"/><mesh class="geom0" file="ycb_objects/015_peach/google_16k/nontextured.stl" name="gen_mesh_gadded_6" scale="0.7430187185041235 0.7430187185041235 0.7430187185041235"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="table"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="cam_target"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" friction="0.67 0.005 0.0001" name="table_plane" pos="0 0 0.3" priority="20" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.5 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="-.2 -0.2 0.29">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" 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/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" 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 1.3888689786657897" name="gen_body_0" pos="0 0 0.5010347247123719"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.5172978838465893 0.9469626038148141 0.7654597593969069 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 1.8091454489163705" name="gen_body_gadded_1" pos="0.11285039295125904 0.0 0.3014346289695679"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.9784269160148309 0.8450938221263111 0.06507543905719348 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 3.7044521128966297" name="gen_body_gadded_2" pos="0.4801853696353483 -0.17933330578551118 0.3000910411968173"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.002464881200886171 0.8840321823721048 0.8849475383764736 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 5.919805031198416" name="gen_body_gadded_3" pos="-0.4369709941423461 0.03992307949349309 0.29995354022732224"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.822466339103433 0.6261830379602461 0.11047771391367378 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 2.6929846100024277" name="gen_body_gadded_4" pos="0.7156261106813453 -0.40952886886119566 0.3038743770512813"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.14150075772518977 0.4215965261661597 0.3464894401485442 1" type="mesh"/><joint class="/" name="gen_joint_gadded_4" type="free"/></body><body euler="0 0 0.8152828632552068" name="gen_body_gadded_5" pos="-0.014500891596202103 0.25241217961479506 0.3004234676395257"><geom class="/" mesh="gen_mesh_gadded_5" name="gen_geom_gadded_5" rgba="0.8287514843227557 0.7178518382260383 0.11922669418412268 1" type="mesh"/><joint class="/" name="gen_joint_gadded_5" type="free"/></body><body euler="0 0 3.4430303039762213" name="gen_body_gadded_6" pos="0.25665626568932276 0.29377162135150736 0.3003078481349306"><geom class="/" mesh="gen_mesh_gadded_6" name="gen_geom_gadded_6" rgba="0.07753409172717718 0.831205255690418 0.46438561478020246 1" type="mesh"/><joint class="/" name="gen_joint_gadded_6" 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> | 118.884503 | 2,287 | 0.688847 |
40e1bf9b8815cb348825b81988695fb1a336a38c | 1,452 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/9544_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9544_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9544_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/954/954.stl" name="obj0" scale="0.00798402649050991 0.00798402649050991 0.00798402649050991" />
</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="0.03782365084855225 0.07113407523449608 0.22424345252628766">
<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> | 38.210526 | 155 | 0.617769 |
40ea84dd0c9d62073b6f717a93961fff387a5f14 | 1,457 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/1375_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1375_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1375_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/137/137.stl" name="obj0" scale="0.004435770879535564 0.004435770879535564 0.004435770879535564" />
</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="0.017847627984116588 0.029881847765671293 0.22608671753118353">
<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 |
40eae9af866ba2a2498be4ebdf175b6f63a5b86a | 2,950 | xml | XML | gym_kuka_mujoco/envs/assets/hole/polyhedral_hole_inner=0-00685_outer=0-05_height=0-05_num_facets=16.xml | leonmkim/gym-kuka-mujoco | ed45ae74d10e69f4e51439de2d1d0c0811623b6b | [
"MIT"
] | 23 | 2019-03-12T21:19:12.000Z | 2022-03-08T15:03:40.000Z | gym_kuka_mujoco/envs/assets/hole/polyhedral_hole_inner=0-00685_outer=0-05_height=0-05_num_facets=16.xml | hzm2016/gym-kuka-mujoco | a8a40bb08a1a1a269a2386ca0d102d62d8384206 | [
"MIT"
] | 16 | 2019-04-21T17:50:13.000Z | 2022-03-11T23:40:29.000Z | gym_kuka_mujoco/envs/assets/hole/polyhedral_hole_inner=0-00685_outer=0-05_height=0-05_num_facets=16.xml | hzm2016/gym-kuka-mujoco | a8a40bb08a1a1a269a2386ca0d102d62d8384206 | [
"MIT"
] | 14 | 2019-05-21T08:56:43.000Z | 2021-12-31T04:23:29.000Z | <?xml version="1.0" ?>
<mujoco>
<body name="hole">
<geom class="collision" euler="0 0 1.5707963267948966" pos="0.028425 0.0 0.025" size="0.009945618368982879 0.021575 0.025" type="box"/>
<geom class="collision" euler="0 0 1.9634954084936207" pos="0.026261275711633326 0.010877776564977676 0.025" size="0.009945618368982879 0.021575 0.025" type="box"/>
<geom class="collision" euler="0 0 2.356194490192345" pos="0.020099510255227614 0.02009951025522761 0.025" size="0.009945618368982879 0.021575 0.025" type="box"/>
<geom class="collision" euler="0 0 2.748893571891069" pos="0.010877776564977678 0.026261275711633326 0.025" size="0.009945618368982879 0.021575 0.025" type="box"/>
<geom class="collision" euler="0 0 3.141592653589793" pos="1.7405292632881756e-18 0.028425 0.025" size="0.009945618368982879 0.021575 0.025" type="box"/>
<geom class="collision" euler="0 0 3.5342917352885173" pos="-0.010877776564977674 0.026261275711633326 0.025" size="0.009945618368982879 0.021575 0.025" type="box"/>
<geom class="collision" euler="0 0 3.9269908169872414" pos="-0.02009951025522761 0.020099510255227614 0.025" size="0.009945618368982879 0.021575 0.025" type="box"/>
<geom class="collision" euler="0 0 4.319689898685965" pos="-0.026261275711633326 0.010877776564977678 0.025" size="0.009945618368982879 0.021575 0.025" type="box"/>
<geom class="collision" euler="0 0 4.71238898038469" pos="-0.028425 3.481058526576351e-18 0.025" size="0.009945618368982879 0.021575 0.025" type="box"/>
<geom class="collision" euler="0 0 5.105088062083414" pos="-0.026261275711633326 -0.010877776564977673 0.025" size="0.009945618368982879 0.021575 0.025" type="box"/>
<geom class="collision" euler="0 0 5.497787143782138" pos="-0.020099510255227618 -0.02009951025522761 0.025" size="0.009945618368982879 0.021575 0.025" type="box"/>
<geom class="collision" euler="0 0 5.890486225480862" pos="-0.010877776564977692 -0.02626127571163332 0.025" size="0.009945618368982879 0.021575 0.025" type="box"/>
<geom class="collision" euler="0 0 6.283185307179586" pos="-5.221587789864527e-18 -0.028425 0.025" size="0.009945618368982879 0.021575 0.025" type="box"/>
<geom class="collision" euler="0 0 6.675884388878311" pos="0.010877776564977683 -0.026261275711633322 0.025" size="0.009945618368982879 0.021575 0.025" type="box"/>
<geom class="collision" euler="0 0 7.0685834705770345" pos="0.02009951025522761 -0.020099510255227618 0.025" size="0.009945618368982879 0.021575 0.025" type="box"/>
<geom class="collision" euler="0 0 7.461282552275758" pos="0.02626127571163332 -0.010877776564977694 0.025" size="0.009945618368982879 0.021575 0.025" type="box"/>
<geom class="collision" pos="0 0 -0.025" size="0.05 0.025" type="cylinder"/>
<site euler="-3.141592653589793 0 0" name="hole_base" pos="0 0 0" size="0.005 0.005 0.005"/>
<site euler="-3.141592653589793 0 0" name="hole_top" pos="0 0 0.05" size="0.005 0.005 0.005"/>
</body>
</mujoco>
| 118 | 167 | 0.739322 |
40ebeeec1feed04574b7ad99d66bed1213b4b314 | 2,724 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/5682_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5682_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5682_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/568/568.stl" name="obj0" scale="0.006510925862610186 0.006510925862610186 0.006510925862610186" />
</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="0.006991096878588894 0.04 0.019797521599793082" 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="-0.0007349580606917758 0.0018918238277917444 0.04014071059776968" size="0.019054881240127428 0.016781217253414478 0.042067532009196607" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="-4.3614357909728465e-05 -2.9062289564475254e-06 0.00506427546716196" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.0007349580606917758 0.0018918238277917444 0.03014071059776967" 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> | 50.444444 | 224 | 0.657122 |
40ee6e3e3dda1303bc86ed665b4fa26b74f0eb44 | 989 | xml | XML | ostrichrl/assets/models/ostrich/ostrich_neck.xml | anonymousaccount2/ostrichrl | 2629143c864c96a3fb44d10d29a00c1edd072f07 | [
"MIT"
] | 48 | 2021-12-13T09:45:35.000Z | 2022-03-29T01:16:00.000Z | ostrichrl/assets/models/ostrich/ostrich_neck.xml | anonymousaccount2/ostrichrl | 2629143c864c96a3fb44d10d29a00c1edd072f07 | [
"MIT"
] | null | null | null | ostrichrl/assets/models/ostrich/ostrich_neck.xml | anonymousaccount2/ostrichrl | 2629143c864c96a3fb44d10d29a00c1edd072f07 | [
"MIT"
] | 2 | 2021-12-16T05:50:17.000Z | 2021-12-17T06:01:53.000Z | <mujoco model="ostrich_neck">
<include file="shared.xml"/>
<include file="bones/assets.xml"/>
<worldbody>
<body name="ostrich" pos="0 0 1.05">
<camera name="side" pos="0.5 -2.8 1.2" euler="-5 0 0"/>
<camera name="back" pos="-2.8 0 1.2" xyaxes="0 -1 0 1 0 3"/>
<light name="top" mode="trackcom" exponent="10" cutoff="45" ambient="0 0 0" pos="0 0 5" directional="false"/>
<include file="bones/torso.xml"/>
<include file="bones/neck.xml"/>
</body>
<site name='target' type='sphere' size='0.05' pos='0 0 1.3' group="0" rgba='0.3 0.6 0.3 0.5'/>
<site name='allowed_sphere' type='sphere' size='0.8' pos='0.5 0 1.3' rgba='0 0 1 0.2'
group='5'/>
<site name='forbidden_sphere' type='sphere' size='0.6' pos='-0.1 0 1.0' rgba='1 0 0 0.2'
group='5'/>
</worldbody>
<include file="tendons/neck.xml"/>
<include file="actuators/neck.xml"/>
</mujoco>
| 38.038462 | 121 | 0.542973 |
40eea48e06e6bebaf59d527b4613591f19bd2b2d | 1,767 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/8453_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8453_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8453_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/845/845.stl" name="obj0" scale="0.014177631529351791 0.014177631529351791 0.014177631529351791" />
</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="0.03005569274025521 0.08866162641682142 0.037931055146916484">
<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="0.005077118594134404 -0.02958638782771744 -0.010466690351746508" rgba="1 0 0 0" size="0.015027846370127605 0.04433081320841071 0.018965527573458242" 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 | 197 | 0.670062 |
40f3b6a59222c45a788782a72d187ebe43c5e022 | 2,719 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/6665_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6665_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6665_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/666/666.stl" name="obj0" scale="0.005435409231621335 0.005435409231621335 0.005435409231621335" />
</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="0.01690714208017052 0.04 0.004594888418861876" 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="0.0025093336314102837 -0.016332028119225614 0.05066691900332808" size="0.012000815189724996 0.012169605744588002 0.055810654003505294" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="-0.002277972382654594 -0.016109304701963992 -0.000548846581315345" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.0025093336314102837 -0.016332028119225614 0.04066691900332808" 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 | 223 | 0.656859 |
40f3ceec9fb923bddb30be44624b9241bd399754 | 2,718 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/5307_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5307_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5307_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/530/530.stl" name="obj0" scale="0.005892778826774253 0.005892778826774253 0.005892778826774253" />
</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="0.029084938366689652 0.04 0.0184282632993757" 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="0.0008876907390916768 0.0036391996901747863 0.039353349488941716" size="0.024326323870309533 0.013752071901664883 0.05891085606214101" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="0.0033956622313948857 0.0010477016857442462 -0.001129243273823601" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.0008876907390916768 0.0036391996901747863 0.02935334948894171" 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> | 50.333333 | 223 | 0.658205 |
40f52158e74c4df01f18dfa58892387425bc5630 | 4,470 | xml | XML | assets/fetch_complex_objects/fetch/train_scene_hook_197.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_197.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_197.xml | NagisaZj/ac-teach | 481811d5c80d0dbee54f16c063b4ea3262b82050 | [
"MIT"
] | 8 | 2019-10-24T23:36:58.000Z | 2022-01-27T13:36:39.000Z | <?xml version="1.0" encoding="utf-8"?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="../stls/fetch" texturedir="../textures"></compiler>
<option timestep="0.002">
<flag warmstart="enable"></flag>
</option>
<include file="shared.xml"></include>
<worldbody>
<geom name="floor0" pos="1.42 0.75 0" size="1.0 0.7 1" type="plane" condim="3" material="floor_mat"></geom>
<body name="floor0" pos="1.42 0.75 0">
<site name="target0" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
</body>
<include file="robot.xml"></include>
<body pos="1.65 0.75 0.2" name="table0">
<geom size="0.5 0.45 0.2" type="box" mass="20000" material="table_mat"></geom><geom size="0.015802314235129337 0.046176840514638204 0.0010728171901339392" pos="0.13272683884402836 -0.17046407474792674 0.20107281719013395" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03165726055934088 0.029517545678883556 0.00234774903427659" pos="0.19014438130915673 -0.16636968337308597 0.2023477490342766" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.02438673097722042 0.04913846246973638 0.0009979827675123466" pos="0.027259472904222815 -0.12413653001491712 0.20099798276751235" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.007066496915553134 0.04272805606373457 0.002930626323700995" pos="0.04729755810617764 0.027200842358805932 0.202930626323701" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.01003893723418858 0.02886302511372258 0.0005478061707335342" pos="0.10958512225187822 -0.2691256991642847 0.20054780617073353" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.010268404731612783 0.01541667205761408 0.0014667629665334073" pos="0.18726137337619347 -0.12734961323895058 0.20146676296653343" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.004623937203972154 0.004331151985659771 0.0008321262449861982" pos="-0.06348485972254586 -0.18191145975837864 0.2008321262449862" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.012516095614887389 0.010014807119271014 0.0015638034463511504" pos="0.002915237173862384 0.2828082430105588 0.20156380344635116" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03980753165193786 0.009453514469547564 0.0040339683830130785" pos="0.12605581793849174 0.24347904593904685 0.20403396838301308" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
</body>
<body pos="1.43919371459 0.610793053764 0.41299946917999997" name="object0">
<light castshadow="false"/>
<geom type="mesh" density="2628.56416554" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
<joint name="object0:joint" type="free" damping="1.0946571909796803"></joint>
<site name="object0" pos="-0.06419371459 0.0742069462360001 0.007000530820000017" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere"></site>
</body>
<body name="hook" pos="1.0 0.025 0.025">
<joint name="hook:joint" type="free" damping="0.01"></joint>
<geom size="0.4 0.015 0.015" type="box" condim="3" name="hook_base" material="block_mat" mass="2"></geom>
<geom size="0.015 0.1 0.015" pos="0.4 0.085 0." type="box" condim="3" name="hook_head" material="block_mat" mass="2"></geom>
<site name="hook" pos="-0.25 0 0" size="0.002 0.002 0.002" rgba="1 0 0 1" type="sphere"></site>
</body>
<light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false" pos="0 0 4" dir="0 0 -1" name="light0"></light>
</worldbody>
<asset>
<mesh scale="0.000356704712578 0.000356704712578 0.000356704712578" file="mujoco_models/lspike2.stl" name="object_mesh"/>
<texture file="textures/obj_textures/smeared_0045.png" name="object"/>
<material specular="1" texture="object" rgba="0.9 0.9 0.9 1" shininess="0.3" name="object"/>
</asset>
<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>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1"></position>
</actuator>
</mujoco>
| 77.068966 | 284 | 0.675615 |
40f5a0aa6f7e5bbd370302e218fa0a320b583136 | 1,772 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/1834_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1834_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1834_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/183/183.stl" name="obj0" scale="0.007656100878824251 0.007656100878824251 0.007656100878824251" />
</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="0.012428018402880466 0.04772584370442761 0.022045642951263007">
<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="-5.75226736160475e-05 5.768249390040586e-05 1.6453913287111793e-05" rgba="1 0 0 0" size="0.006214009201440233 0.023862921852213805 0.011022821475631503" 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> | 43.219512 | 201 | 0.669865 |
40f7156aac3364f5ed37589456204de461a13337 | 2,713 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7958_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7958_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7958_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/795/795.stl" name="obj0" scale="0.005378148729610682 0.005378148729610682 0.005378148729610682" />
</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="0.03612937593911721 0.04 0.022626863973912753" 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="0.007692398523252552 -0.01404400710426526 0.02876930214544493" size="0.01786072491702587 0.02994106137348561 0.059769456089785344" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="0.0053826670445318095 -0.012235029352114606 -0.008373289970427661" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.007692398523252552 -0.01404400710426526 0.01876930214544493" 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> | 50.240741 | 219 | 0.656469 |
40f7b72178ea263b1c62c720f54612c8fb1b14f6 | 2,721 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/5084_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5084_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5084_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/508/508.stl" name="obj0" scale="0.005717638700981076 0.005717638700981076 0.005717638700981076" />
</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="0.017213554520186483 0.04 0.016743195831269625" 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="-0.00452321828808481 -0.0020088019234047088 0.03819023996037626" size="0.010842107075906137 0.011523479428835465 0.05484426710348718" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="-0.0002546235431341111 -0.001360095706429145 8.916868815870725e-05" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.00452321828808481 -0.0020088019234047088 0.028190239960376257" 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 | 222 | 0.656376 |
40f956274ebb9bfcf2e0dabed435f7b44038d896 | 1,768 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/973_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/973_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/973_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/097/097.stl" name="obj0" scale="0.007533595748237105 0.007533595748237105 0.007533595748237105" />
</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="0.03854389861843943 0.052280600603806855 0.02039439292354212">
<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="-0.00122578206940411 0.0004953781617989943 0.0005092941592945275" rgba="1 0 0 0" size="0.019271949309219716 0.026140300301903428 0.01019719646177106" 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> | 43.121951 | 198 | 0.670814 |
40f9a922d909e3321166b37aa800f64b6f01d333 | 2,710 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/8962_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8962_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8962_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/896/896.stl" name="obj0" scale="0.0050503080119727655 0.0050503080119727655 0.0050503080119727655" />
</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="0.025688255344583147 0.04 0.020667691121646896" 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="0.01592869280739989 0.007681126086760603 0.0422411474010985" size="0.011425463559039596 0.021375379309332643 0.05731759365588658" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="0.006112324990724328 0.010208525135976273 0.00559124486685882" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.01592869280739989 0.007681126086760603 0.0322411474010985" 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> | 50.185185 | 218 | 0.657565 |
40fb7306de60d99a87c72967a73eb241b888ad18 | 1,455 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/5982_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5982_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5982_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/598/598.stl" name="obj0" scale="0.005828244330483173 0.005828244330483173 0.005828244330483173" />
</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="0.015635139653170683 0.03756346308592234 0.2378622538597689">
<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 |
40fb895213f7a0d8e66de9516aee61fcaeb45042 | 1,454 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/5351_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5351_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5351_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/535/535.stl" name="obj0" scale="0.010599367419078522 0.010599367419078522 0.010599367419078522" />
</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="0.02614871891812236 0.0647809329086875 0.22910669498313202">
<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> | 38.263158 | 155 | 0.618294 |
dc008c71c68f4b38428f7ea34dfe4fb318a03a94 | 1,768 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/109_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/109_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/109_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/010/010.stl" name="obj0" scale="0.017519625261971022 0.017519625261971022 0.017519625261971022" />
</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="0.025663001118301453 0.14362536230888057 0.026314231868726806">
<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="-0.0031778995873329 -0.014411533541704245 0.0002986734497102331" rgba="1 0 0 0" size="0.012831500559150727 0.07181268115444028 0.013157115934363403" 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> | 43.121951 | 197 | 0.670249 |
dc0173d0daf6704488e8abb887f2b417982be693 | 90,248 | xml | XML | herb_reconf/cluttered_scenes/easy_pushing_014_lemon_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_014_lemon_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_014_lemon_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 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 file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<!--<mesh name="mustard" class="/" file="ycb_objects/006_mustard_bottle/google_16k/textured.msh"/>
<texture name="mustard_tex" type="2d" file="ycb_objects/006_mustard_bottle/google_16k/texture_map.png"/>
<material name="mustard_mat" class="/" texture="mustard_tex"/>-->
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="ycb_objects/014_lemon/google_16k/nontextured.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="downloaded_assets/vase_3/scene.stl" name="gen_mesh_gadded_1" scale="1.0080155618098676 1.0080155618098676 1.0080155618098676"/><mesh class="geom0" file="ycb_objects/036_wood_block/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="1.7020180098999298 1.7020180098999298 1.7020180098999298"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="table"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="cam_target"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" friction="0.67 0.005 0.0001" name="table_plane" pos="0 0 0.3" priority="20" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.5 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="-.2 -0.2 0.29">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" 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/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" 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 3.0611825872460647" name="gen_body_0" pos="-0.05 -0.35 0.30023499999952036"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.019466393556146655 0.7329586415777865 0.5512583946178086 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 2.159677290824133" name="gen_body_gadded_1" pos="0.14225730248132046 -0.1457152861044556 0.46694405814853657"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.14111305654824247 0.04180444287206064 0.3054360213164884 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 2.7855510748629517" name="gen_body_gadded_2" pos="-0.15238072520397342 -0.507796708316165 0.3003648795395008"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.953470459491377 0.5598076874219694 0.747441889988621 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"/>-->
<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> | 131.94152 | 10,958 | 0.688425 |
dc028b4c867f82a890213a82c856a7941b38381f | 2,717 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3896_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3896_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3896_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/389/389.stl" name="obj0" scale="0.004830427247667236 0.004830427247667236 0.004830427247667236" />
</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="0.027864307502100328 0.04 0.017991643602382895" 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="0.027212766705157515 -0.0034793196975605885 0.03641955017170017" size="0.012455684493165003 0.013317444780761856 0.05333136667413423" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="0.014348812994306575 0.002530834420945528 0.001079827099948833" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.027212766705157515 -0.0034793196975605885 0.026419550171700168" 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> | 50.314815 | 222 | 0.657711 |
dc030ba6840d460eec0464dc05623164f04be7bb | 2,719 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3791_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3791_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3791_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/379/379.stl" name="obj0" scale="0.005708161264974201 0.005708161264974201 0.005708161264974201" />
</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="0.0318187493261694 0.04 0.0145175237339994" 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="-0.0042011239630821125 -0.004106462812333786 0.03101845633321891" size="0.02088590736197273 0.029076768878800306 0.045840074064159006" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="0.0013680266224880442 -0.0014983782305159714 -0.0003040939969406963" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.0042011239630821125 -0.004106462812333786 0.02101845633321891" 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 | 223 | 0.656491 |
dc078e04fe5553d43744e2a2aadca48228d6c5f6 | 1,937 | xml | XML | tools/tools.xml | vikashplus/pallet | 670901fdf672df8057a9e696ad64e2b4e3700862 | [
"Apache-2.0"
] | 6 | 2018-12-30T11:18:31.000Z | 2021-01-23T01:31:12.000Z | tools/tools.xml | vikashplus/pallet | 670901fdf672df8057a9e696ad64e2b4e3700862 | [
"Apache-2.0"
] | null | null | null | tools/tools.xml | vikashplus/pallet | 670901fdf672df8057a9e696ad64e2b4e3700862 | [
"Apache-2.0"
] | 3 | 2019-02-16T01:01:46.000Z | 2019-04-11T20:08:16.000Z | <!-- ===========Copyright | Vikash Kumar | [email protected] ==============
Model :: Tools
Mujoco :: Advanced physics simulation engine
Source : www.roboti.us
Version : 2.00
Released : 1Oct"18
Author :: Vikash Kumar
Contacts : [email protected]
Last edits : 10Oct"19
Copyright 2018 Vikash Kumar
Licensed under Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
================================================================================= -->
<mujoco model="house hold objects">
<include file='../utils/basic_scene.xml'/>
<compiler angle='radian'/>
<worldbody>
<body name='hammer' pos='.5 -.1 0.05'>
<include file='include_hammer.xml'/>
<freejoint name='Jhammer'/>
</body>
<body name="spatula" pos=".5 -.2 .05">
<include file='include_spatula.xml'/>
<freejoint name='Jspatula'/>
</body>
<body name="screwDriver" pos=".5 -.3 .05">
<include file='include_screwDriver.xml'/>
<freejoint name='JscrewDriver'/>
</body>
<body name="ratchet" pos=".5 -.4 .05">
<include file='include_ratchet.xml'/>
<freejoint name='Jratchet'/>
</body>
<body name="knife" pos=".5 -.5 .05">
<include file='include_knife.xml'/>
<freejoint name='Jknife'/>
</body>
<body name="turner" pos=".5 -.6 .05">
<include file='include_turner.xml'/>
<freejoint name='Jturner'/>
</body>
</worldbody>
</mujoco>
| 35.87037 | 521 | 0.608673 |
dc07ca0152b4999fcfedee05f14c22d4edc50067 | 2,718 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/6471_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6471_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6471_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/647/647.stl" name="obj0" scale="0.005210440237260002 0.005210440237260002 0.005210440237260002" />
</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="0.02280151694151848 0.04 0.029687134556818515" 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="0.0030235261601778184 -0.025761367252970752 0.0179967281557812" size="0.021939973775657554 0.01565774975263929 0.04648066092936916" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="-0.003605360087561086 -0.012412261452646046 -0.0056824158320694824" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.0030235261601778184 -0.025761367252970752 0.007996728155781199" 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> | 50.333333 | 220 | 0.656733 |
dc081b889bbc9f360d23de3d52aa0af1a95bcf9a | 2,736 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/4800_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4800_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4800_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/480/480.stl" name="obj0" scale="0.0049352967177500725 0.0049352967177500725 0.0049352967177500725" />
</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="0.023950713659328188 0.04000000000000001 0.012558861895900405" 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="-0.014215407677845147 -0.017746343412383812 0.03666654583999506" size="0.01334071148800795 0.020740368480468438 0.050299661401640244" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="-0.00412126302140383 -0.016139010292131845 -0.001074253665744774" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.014215407677845147 -0.017746343412383812 0.02666654583999506" 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> | 50.666667 | 222 | 0.65826 |
dc08cbf892bbfff4406b3e68a2cae298c5b8a8b9 | 1,456 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/396_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/396_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/396_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/039/039.stl" name="obj0" scale="0.021175412787923734 0.021175412787923734 0.021175412787923734" />
</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="0.021866821778568628 0.11924313271924565 0.22646091228455983">
<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 |
dc096bc4f867698dc52277661bcd3103c5fb6b7a | 1,770 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/5583_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5583_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5583_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/558/558.stl" name="obj0" scale="0.003874609945818822 0.003874609945818822 0.003874609945818822" />
</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="0.01957047466696839 0.03292877945858557 0.023713356793520785">
<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="-0.0033165524122697964 0.011294824233659614 -0.002718940047047133" rgba="1 0 0 0" size="0.009785237333484196 0.016464389729292785 0.011856678396760393" 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 |
dc0a8f93248f292f157701fa6ed00fbca965c6c3 | 1,457 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/503_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/503_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/503_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/050/050.stl" name="obj0" scale="0.0043698546124657945 0.0043698546124657945 0.0043698546124657945" />
</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="0.02895587366670793 0.030047157459079005 0.214131336352448">
<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 |
dc0bcc95ceea669107f11211eb5c8a48b4d8b401 | 1,456 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/1497_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1497_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1497_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/149/149.stl" name="obj0" scale="0.012681560477253885 0.012681560477253885 0.012681560477253885" />
</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="0.019875162976415672 0.09749042826358433 0.23709527640663206">
<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 |
dc0e24d85e8c6e06ed11a893e599995703be0221 | 1,451 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/5774_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5774_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5774_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/577/577.stl" name="obj0" scale="0.01712216469315846 0.01712216469315846 0.01712216469315846" />
</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="0.03095456227299692 0.1062136160421054 0.21364116868346292">
<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> | 38.184211 | 155 | 0.617505 |
dc0e3f8532ef2151e2edcf8848835dcb187cc7c4 | 2,707 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7195_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7195_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7195_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/719/719.stl" name="obj0" scale="0.00588668354918453 0.00588668354918453 0.00588668354918453" />
</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="0.0301000611111336 0.04 0.035730200047902894" 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="0.00813552480778633 -0.0180798374871011 0.009275278261974808" size="0.01430587162416492 0.01202951990521097 0.042382552011304" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="0.00018882819258416833 -0.013853990788078693 -0.003007212638195593" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.00813552480778633 -0.0180798374871011 -0.0007247217380251941" 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> | 50.12963 | 215 | 0.655338 |
dc0f280363c27920c1d7a2ae9600d951c0692c9c | 80,814 | xml | XML | herb_reconf/cluttered_scenes/easy_pushing_vase_1_1_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_vase_1_1_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_vase_1_1_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 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 file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<!--<mesh name="mustard" class="/" file="ycb_objects/006_mustard_bottle/google_16k/textured.msh"/>
<texture name="mustard_tex" type="2d" file="ycb_objects/006_mustard_bottle/google_16k/texture_map.png"/>
<material name="mustard_mat" class="/" texture="mustard_tex"/>-->
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="downloaded_assets/vase_1/scene.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/021_bleach_cleanser/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="1.4589743127946937 1.4589743127946937 1.4589743127946937"/><mesh class="geom0" file="ycb_objects/077_rubiks_cube/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="1.2671927188470185 1.2671927188470185 1.2671927188470185"/><mesh class="geom0" file="ycb_objects/055_baseball/google_16k/nontextured.stl" name="gen_mesh_gadded_3" scale="0.8643876260375654 0.8643876260375654 0.8643876260375654"/><mesh class="geom0" file="ycb_objects/018_plum/google_16k/nontextured.stl" name="gen_mesh_gadded_4" scale="1.6318863585668117 1.6318863585668117 1.6318863585668117"/><mesh class="geom0" file="ycb_objects/005_tomato_soup_can/google_16k/nontextured.stl" name="gen_mesh_gadded_5" scale="1.657478289908536 1.657478289908536 1.657478289908536"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="table"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="cam_target"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" friction="0.67 0.005 0.0001" name="table_plane" pos="0 0 0.3" priority="20" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.5 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="-.2 -0.2 0.29">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" 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/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" 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 5.279087874119685" name="gen_body_0" pos="-0.05 -0.35 0.4205656826496124"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.10309243167421278 0.24076261322195902 0.2100689922963226 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 4.4935632438185795" name="gen_body_gadded_1" pos="0.1050172265185731 -0.35 0.30313220270799723"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.02696681070654383 0.12167421217743057 0.9242206952231258 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 3.636538190084915" name="gen_body_gadded_2" pos="0.11189372169290458 -0.9112131610933532 0.3004773944330765"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.5212834123536789 0.6078952969319183 0.37195074675329287 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 4.610644495679893" name="gen_body_gadded_3" pos="-0.044475326443290934 -1.0020185368615344 0.3001648783633194"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.7675190683469112 0.20413203767405508 0.7215133936031415 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 4.780683565274403" name="gen_body_gadded_4" pos="0.10283192122449417 -0.18864668242940208 0.3000425738608315"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.3044692168692622 0.996792093026375 0.9826034445827613 1" type="mesh"/><joint class="/" name="gen_joint_gadded_4" type="free"/></body><body euler="0 0 0.398360920517203" name="gen_body_gadded_5" pos="0.35300375425975206 0.01053693186907384 0.3012301083542565"><geom class="/" mesh="gen_mesh_gadded_5" name="gen_geom_gadded_5" rgba="0.8934434587981441 0.1460457161172498 0.5723344429986597 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="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> | 118.149123 | 1,957 | 0.688074 |
dc0f2f938b58d870633bdd69fa16981afdebd636 | 1,458 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/9238_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9238_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9238_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/923/923.stl" name="obj0" scale="0.0073667453780065515 0.0073667453780065515 0.0073667453780065515" />
</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="0.03008499251527793 0.07746231479361954 0.21964276722674314">
<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> | 38.368421 | 155 | 0.619342 |
dc0f59523e4881ce5135b795b4830a8ebe350fbc | 2,129 | xml | XML | robel/dkitty/assets/dkitty_stand-v0.xml | Del9fina/robel | 63dfac65932757134e5766f1e20a339efe281bc7 | [
"Apache-2.0"
] | 109 | 2019-08-29T22:55:41.000Z | 2022-03-19T18:26:37.000Z | robel/dkitty/assets/dkitty_stand-v0.xml | Del9fina/robel | 63dfac65932757134e5766f1e20a339efe281bc7 | [
"Apache-2.0"
] | 12 | 2019-11-14T05:16:00.000Z | 2021-02-21T07:49:32.000Z | robel/dkitty/assets/dkitty_stand-v0.xml | Del9fina/robel | 63dfac65932757134e5766f1e20a339efe281bc7 | [
"Apache-2.0"
] | 40 | 2019-09-29T06:50:44.000Z | 2022-03-19T18:34:20.000Z | <!--
~ Copyright 2019 The ROBEL Authors.
~
~ Licensed under the Apache License, Version 2.0 (the "License");
~ you may not use this file except in compliance with the License.
~ You may obtain a copy of the License at
~
~ http://www.apache.org/licenses/LICENSE-2.0
~
~ Unless required by applicable law or agreed to in writing, software
~ distributed under the License is distributed on an "AS IS" BASIS,
~ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
~ See the License for the specific language governing permissions and
~ limitations under the License.
-->
<?xml version="1.0"?>
<mujoco model="dkitty-v2.1">
<compiler meshdir="./../../robel-scenes/dkitty" texturedir="../../robel-scenes/dkitty"/>
<include file="./../../robel-scenes/scenes/basic_scene.xml"/>
<include file="./../../robel-scenes/dkitty/assets/dependenciesA_xh-v2.1.xml"/>
<size njmax="2000" nconmax="2000"/>
<asset>
<hfield name="hf1" size="4.5 4.5 1 .1" nrow="120" ncol="120"/>
</asset>
<worldbody>
<geom name="hfield1" type="hfield" hfield="hf1" pos="0 0 -.005" material="MatPlane" rgba=".7 .7 .7 1"/>
<body name="kitty_frame" pos="0 0 .3">
<camera name="trackingZ" pos="0 0 3" zaxis="0 0 3" mode="trackcom"/>
<camera name="trackingY" pos="1.5 1.5 .35" xyaxes="-.7 1 0 0 -.3 1" mode="trackcom"/>
<site name="torso" type="box" size=".090 .150 .007" group="4"/>
<geom type="sphere" size="0.010" mass="0.010" group="4"/>
<joint name="Tx" pos="0 0 0" axis="1 0 0" limited="true" type="slide" range="-10 10"/>
<joint name="Ty" pos="0 0 0" axis="0 1 0" limited="true" type="slide" range="-10 10"/>
<joint name="Tz" pos="0 0 0" axis="0 0 1" limited="true" type="slide" range="-2 2"/>
<joint name="Rx" pos="0 0 0" axis="1 0 0" limited="true" range="-3.14 3.14"/>
<joint name="Ry" pos="0 0 0" axis="0 1 0" limited="true" range="-3.14 3.14"/>
<joint name="Rz" pos="0 0 0" axis="0 0 1" limited="true" range="-3.14 3.14"/>
<include file="./../../robel-scenes/dkitty/assets/chainA_xh-v2.1.xml"/>
</body>
</worldbody>
</mujoco>
| 49.511628 | 107 | 0.628934 |
dc0f95fdd112082ca0e5e056452cf8d71ed43b1f | 1,316 | xml | XML | gym_kuka_mujoco/envs/assets/full_peg_insertion_experiment_moving_hole_id=046.xml | leonmkim/gym-kuka-mujoco | ed45ae74d10e69f4e51439de2d1d0c0811623b6b | [
"MIT"
] | 23 | 2019-03-12T21:19:12.000Z | 2022-03-08T15:03:40.000Z | gym_kuka_mujoco/envs/assets/full_peg_insertion_experiment_moving_hole_id=046.xml | hzm2016/gym-kuka-mujoco | a8a40bb08a1a1a269a2386ca0d102d62d8384206 | [
"MIT"
] | 16 | 2019-04-21T17:50:13.000Z | 2022-03-11T23:40:29.000Z | gym_kuka_mujoco/envs/assets/full_peg_insertion_experiment_moving_hole_id=046.xml | hzm2016/gym-kuka-mujoco | a8a40bb08a1a1a269a2386ca0d102d62d8384206 | [
"MIT"
] | 14 | 2019-05-21T08:56:43.000Z | 2021-12-31T04:23:29.000Z | <?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="enable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
<geom contype="1" conaffinity="1" friction=".2 0.005 0.0001"/>
</default>
<site rgba="1 0 0 .5"/>
</default>
<asset>
<include file="kuka/kuka_assets.xml"/>
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1" width="256" height="256"/>
</asset>
<worldbody>
<light pos="0 0 1000" castshadow="false"/>
<geom class="collision" type="plane" size="10 10 1" rgba=".8 .8 .8 1"/>
<body name="kuka_table" pos="0 0 1">
<geom class="collision" type="box" size=".5 .5 .5" pos="0 0 -.5" />
<body name="kuka_base" pos=".2 0 0">
<include file="kuka/kuka_mesh_collision_peg_ee.xml"/>
</body>
</body>
<body pos=".85 0 1.3" mocap="true">
<include file="hole/polyhedral_hole_inner=0-008685_outer=0-10_height=0-05_num_facets=16_id=046.xml"/>
</body>
</worldbody>
<actuator>
<include file="kuka/kuka_actuators.xml"/>
</actuator>
<sensor>
<include file="peg/peg_sensors.xml" />
</sensor>
</mujoco>
| 27.416667 | 107 | 0.597264 |
dc12e5acc53647536fd14d3aad534d32d6e96df0 | 1,457 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/167_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/167_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/167_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="0.006619797935977553 0.006619797935977553 0.006619797935977553" />
</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="0.023454705363931107 0.051748628654616394 0.23994364560225565">
<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 |
dc157dd7f125afb5300d71c856c48694c0129695 | 80,831 | xml | XML | herb_reconf/cluttered_scenes/easy_pushing_017_orange_1_1.0_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_017_orange_1_1.0_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_017_orange_1_1.0_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 file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<!--<mesh name="mustard" class="/" file="ycb_objects/006_mustard_bottle/google_16k/textured.msh"/>
<texture name="mustard_tex" type="2d" file="ycb_objects/006_mustard_bottle/google_16k/texture_map.png"/>
<material name="mustard_mat" class="/" texture="mustard_tex"/>-->
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="ycb_objects/017_orange/google_16k/nontextured.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/061_foam_brick/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="1.357687299352845 1.357687299352845 1.357687299352845"/><mesh class="geom0" file="ycb_objects/024_bowl/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="1.6058613355436682 1.6058613355436682 1.6058613355436682"/><mesh class="geom0" file="ycb_objects/006_mustard_bottle/google_16k/nontextured.stl" name="gen_mesh_gadded_3" scale="1.3266887588344378 1.3266887588344378 1.3266887588344378"/><mesh class="geom0" file="ycb_objects/007_tuna_fish_can/google_16k/nontextured.stl" name="gen_mesh_gadded_4" scale="0.8401675194321814 0.8401675194321814 0.8401675194321814"/><mesh class="geom0" file="ycb_objects/021_bleach_cleanser/google_16k/nontextured.stl" name="gen_mesh_gadded_5" scale="0.6924310886273108 0.6924310886273108 0.6924310886273108"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="table"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="cam_target"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" friction="0.67 0.005 0.0001" name="table_plane" pos="0 0 0.3" priority="20" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.5 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="-.2 -0.2 0.29">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" 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/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" 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 5.401649938810817" name="gen_body_0" pos="-0.05 -0.35 0.30024799999664536"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.16008613990736398 0.93251435769613 0.9306665922480792 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 3.0164454530291724" name="gen_body_gadded_1" pos="0.09206766100241229 -0.35 0.30161878899322425"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.6407035864806429 0.8892482567934146 0.9406631573776681 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 4.474178766753084" name="gen_body_gadded_2" pos="-0.11220056070258068 -0.5485894971297738 0.2971436957415707"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.12313647470577671 0.06582377474534062 0.4194491201376095 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 0.5128643211731365" name="gen_body_gadded_3" pos="0.11914544928286619 -0.4686785292294463 0.30555898691124883"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.911342626770201 0.23869932704181984 0.7404067398123547 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 2.5512813648702743" name="gen_body_gadded_4" pos="0.21263163463131513 -0.518512961152815 0.30281848691208924"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.2028434158858501 0.7326328189439523 0.7796833592971562 1" type="mesh"/><joint class="/" name="gen_joint_gadded_4" type="free"/></body><body euler="0 0 0.4242846159097067" name="gen_body_gadded_5" pos="0.525482645235163 -0.266768599696157 0.30148654770103933"><geom class="/" mesh="gen_mesh_gadded_5" name="gen_geom_gadded_5" rgba="0.2071779111910902 0.5519789003152491 0.11034314932106448 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="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> | 118.173977 | 1,956 | 0.688115 |
dc17c05f738a01546743ae4438874e626b919be4 | 2,717 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/9563_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9563_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9563_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/956/956.stl" name="obj0" scale="0.006253776205960615 0.006253776205960615 0.006253776205960615" />
</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="0.021885793382582338 0.04 0.037174387565741845" 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="0.009178698050631592 -0.010137654320815898 0.03861229535428508" size="0.020040202672286074 0.018005950569648488 0.0544388182693595" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="-0.004637000762405283 -0.009757055638658564 0.0060592704675079155" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.009178698050631592 -0.010137654320815898 0.028612295354285073" 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> | 50.314815 | 220 | 0.656975 |
dc1860919ac35bfca713269092f0e06ac253e346 | 1,770 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7260_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7260_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7260_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/726/726.stl" name="obj0" scale="0.004364727055411451 0.004364727055411451 0.004364727055411451" />
</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="0.018212705313569475 0.02823634682595595 0.021120669796420907">
<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="-0.0012482482166648065 -0.007128696402699663 0.00176566464603104" rgba="1 0 0 0" size="0.009106352656784738 0.014118173412977974 0.010560334898210453" 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 | 199 | 0.670621 |
dc1cb1ac2b724bdcdc4e7ee140a3f4dcb5ffd137 | 2,720 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/9939_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9939_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9939_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/993/993.stl" name="obj0" scale="0.0053076390526793134 0.0053076390526793134 0.0053076390526793134" />
</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="0.025890554492369114 0.04 0.034491352694937145" 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="0.003054706240061979 -0.010017568845984232 0.02989521237594074" size="0.020545294342454758 0.030931447061637966 0.05984001182163036" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="0.0025851159811471043 -0.010170962843327053 -0.004054244953320504" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.003054706240061979 -0.010017568845984232 0.01989521237594074" 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> | 50.37037 | 221 | 0.657353 |
dc1cd1c757b2e91fbd566c12a75fdcc5e2c67640 | 1,456 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/9376_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9376_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9376_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/937/937.stl" name="obj0" scale="0.008806584240657096 0.008806584240657096 0.008806584240657096" />
</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="0.023428882598619926 0.05053683905595372 0.21669862672438256">
<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 |
dc1e065b1efd5a15c46b01a02eb72a3b7addef26 | 1,771 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/1493_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1493_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1493_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/149/149.stl" name="obj0" scale="0.011891093979201088 0.011891093979201088 0.011891093979201088" />
</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="0.018636305147808924 0.09141365896051584 0.034783055186850376">
<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="-0.0005625250158691001 -0.03566530455068877 -0.0029763601958986354" rgba="1 0 0 0" size="0.009318152573904462 0.04570682948025792 0.017391527593425188" 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 | 200 | 0.670243 |
dc1e76fac4821ac8aa37cae0a78e956276ddf614 | 17,446 | xml | XML | robosuite/scripts/~/Robotics/1581903573_7626145/ep_1581903743_053132/model.xml | clj003/mod_surreal2 | 1c91ed1d85acdb8b82dae46c49153d547301d2d9 | [
"MIT"
] | null | null | null | robosuite/scripts/~/Robotics/1581903573_7626145/ep_1581903743_053132/model.xml | clj003/mod_surreal2 | 1c91ed1d85acdb8b82dae46c49153d547301d2d9 | [
"MIT"
] | null | null | null | robosuite/scripts/~/Robotics/1581903573_7626145/ep_1581903743_053132/model.xml | clj003/mod_surreal2 | 1c91ed1d85acdb8b82dae46c49153d547301d2d9 | [
"MIT"
] | null | null | null | <mujoco model="base">
<compiler angle="radian" meshdir="meshes/" />
<option cone="elliptic" impratio="20" />
<size nconmax="5000" njmax="5000" />
<asset>
<texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256" />
<texture builtin="checker" height="512" name="texplane" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" type="2d" width="512" />
<material name="floorplane" reflectance="0.5" texrepeat="1 1" texture="texplane" texuniform="true" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/pedestal.stl" name="pedestal" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/base.stl" name="base" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/l0.stl" name="l0" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/head.stl" name="head" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/l1.stl" name="l1" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/l2.stl" name="l2" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/l3.stl" name="l3" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/l4.stl" name="l4" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/l5.stl" name="l5" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/l6.stl" name="l6" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/grippers/meshes/two_finger_gripper/electric_gripper_base.STL" name="electric_gripper_base" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/grippers/meshes/two_finger_gripper/standard_narrow.STL" name="standard_narrow" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/grippers/meshes/two_finger_gripper/half_round_tip.STL" name="half_round_tip" />
</asset>
<actuator>
<velocity ctrllimited="true" ctrlrange="-1.74 1.74" joint="right_j0" kv="8.0" name="vel_right_j0" />
<velocity ctrllimited="true" ctrlrange="-1.328 1.328" joint="right_j1" kv="7.0" name="vel_right_j1" />
<velocity ctrllimited="true" ctrlrange="-1.957 1.957" joint="right_j2" kv="6.0" name="vel_right_j2" />
<velocity ctrllimited="true" ctrlrange="-1.957 1.957" joint="right_j3" kv="4.0" name="vel_right_j3" />
<velocity ctrllimited="true" ctrlrange="-3.485 3.485" joint="right_j4" kv="2.0" name="vel_right_j4" />
<velocity ctrllimited="true" ctrlrange="-3.485 3.485" joint="right_j5" kv="0.5" name="vel_right_j5" />
<velocity ctrllimited="true" ctrlrange="-4.545 4.545" joint="right_j6" kv="0.1" name="vel_right_j6" />
<position ctrllimited="true" ctrlrange="-0.0115 0.020833" forcelimited="true" forcerange="-20 20" joint="r_gripper_r_finger_joint" kp="10000" name="gripper_r_gripper_r_finger_joint" />
<position ctrllimited="true" ctrlrange="-0.020833 0.0115" forcelimited="true" forcerange="-20 20" joint="r_gripper_l_finger_joint" kp="10000" name="gripper_r_gripper_l_finger_joint" />
</actuator>
<worldbody>
<geom condim="3" material="floorplane" name="floor" pos="0.56 0.0 0.0" size="3 3 .125" type="plane" />
<body name="table" pos="0.56 0.0 0.4">
<geom friction="1.0 0.005 0.0001" name="table_collision" pos="0 0 0" size="0.4 0.4 0.4" type="box" />
<geom conaffinity="0" contype="0" group="1" name="table_visual" pos="0 0 0" size="0.4 0.4 0.4" type="box" />
<site name="table_top" pos="0.0 0.0 0.4" rgba="0 0 0 0" size="0.001 0.001 0.001" />
</body>
<light castshadow="false" diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="1.56 1.0 4.0" specular="0.3 0.3 0.3" />
<light castshadow="false" diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="-2.44 -3.0 4.0" specular="0.3 0.3 0.3" />
<camera mode="fixed" name="frontview" pos="2.16 0.0 1.45" quat="0.56 0.43 0.43 0.56" />
<camera mode="fixed" name="birdview" pos="0.36000000000000004 0.0 3.0" quat="0.7071 0 0 0.7071" />
<camera mode="fixed" name="agentview" pos="1.06 0.0 1.35" quat="0.653 0.271 0.271 0.653" />
<body name="base" pos="0.0 0.0 0.913">
<inertial diaginertia="0 0 0" mass="0" pos="0 0 0" />
<body name="controller_box" pos="0 0 0">
<inertial diaginertia="1.71363 1.27988 0.809981" mass="46.64" pos="-0.325 0 -0.38" />
<geom pos="-0.325 0 -0.38" size="0.11 0.2 0.265" type="box" />
</body>
<body name="pedestal_feet" pos="0 0 0">
<inertial diaginertia="8.16095 9.59375 15.0785" mass="167.09" pos="-0.1225 0 -0.758" />
<geom pos="-0.1225 0 -0.758" size="0.385 0.35 0.155" type="box" />
</body>
<body name="torso" pos="0 0 0">
<inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0" />
<geom conaffinity="0" contype="0" group="1" rgba="0.2 0.2 0.2 1" size="0.05 0.05 0.05" type="box" />
</body>
<body name="pedestal" pos="0 0 0">
<inertial diaginertia="6.0869 5.81635 4.20915" mass="60.864" pos="0 0 0" quat="0.659267 -0.259505 -0.260945 0.655692" />
<geom conaffinity="0" contype="0" group="1" mesh="pedestal" pos="0.26 0.345 -0.91488" quat="0.5 0.5 -0.5 -0.5" rgba="0.2 0.2 0.2 1" type="mesh" />
<geom pos="-0.02 0 -0.29" rgba="0.2 0.2 0.2 1" size="0.18 0.31" type="cylinder" />
</body>
<body name="right_arm_base_link" pos="0 0 0">
<inertial diaginertia="0.00740351 0.00681776 0.00672942" mass="2.0687" pos="-0.0006241 -2.8025e-05 0.065404" quat="-0.209285 0.674441 0.227335 0.670558" />
<geom conaffinity="0" contype="0" group="1" mesh="base" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0 0 0.12" rgba="0.5 0.1 0.1 1" size="0.08 0.12" type="cylinder" />
<body name="right_l0" pos="0 0 0.08">
<inertial diaginertia="0.0651588 0.0510944 0.0186218" mass="5.3213" pos="0.024366 0.010969 0.14363" quat="0.894823 0.00899958 -0.170275 0.412573" />
<joint axis="0 0 1" limited="true" name="right_j0" pos="0 0 0" range="-3.0503 3.0503" />
<geom conaffinity="0" contype="0" group="1" mesh="l0" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0.08 0 0.23" rgba="0.5 0.1 0.1 1" size="0.07" />
<body name="head" pos="0 0 0.2965">
<inertial diaginertia="0.0118334 0.00827089 0.00496574" mass="1.5795" pos="0.0053207 -2.6549e-05 0.1021" quat="0.999993 7.08405e-05 -0.00359857 -0.000626247" />
<joint axis="0 0 1" limited="true" name="head_pan" pos="0 0 0" range="-5.0952 0.9064" />
<geom conaffinity="0" contype="0" group="1" mesh="head" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0 0 0.08" rgba="0.5 0.1 0.1 1" size="0.018" />
<body name="screen" pos="0.03 0 0.105" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0" />
<geom conaffinity="0" contype="0" group="1" rgba="0.2 0.2 0.2 1" size="0.12 0.07 0.001" type="box" />
<geom rgba="0.2 0.2 0.2 1" size="0.001" />
</body>
<body name="head_camera" pos="0.0228027 0 0.216572" quat="0.342813 -0.618449 0.618449 -0.342813">
<inertial diaginertia="0 0 0" mass="0" pos="0.0228027 0 0.216572" quat="0.342813 -0.618449 0.618449 -0.342813" />
</body>
</body>
<body name="right_torso_itb" pos="-0.055 0 0.22" quat="0.707107 0 -0.707107 0">
<inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0" />
</body>
<body name="right_l1" pos="0.081 0.05 0.237" quat="0.5 -0.5 0.5 0.5">
<inertial diaginertia="0.0224339 0.0221624 0.0097097" mass="4.505" pos="-0.0030849 -0.026811 0.092521" quat="0.424888 0.891987 0.132364 -0.0794296" />
<joint axis="0 0 1" limited="true" name="right_j1" pos="0 0 0" range="-3.8095 2.2736" />
<geom conaffinity="0" contype="0" group="1" mesh="l1" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0 0 0.1225" rgba="0.5 0.1 0.1 1" size="0.07" />
<body name="right_l2" pos="0 -0.14 0.1425" quat="0.707107 0.707107 0 0">
<inertial diaginertia="0.0257928 0.025506 0.00292515" mass="1.745" pos="-0.00016044 -0.014967 0.13582" quat="0.707831 -0.0524761 0.0516007 0.702537" />
<joint axis="0 0 1" limited="true" name="right_j2" pos="0 0 0" range="-3.0426 3.0426" />
<geom conaffinity="0" contype="0" group="1" mesh="l2" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0 0 0.08" rgba="0.5 0.1 0.1 1" size="0.06 0.17" type="cylinder" />
<body name="right_l3" pos="0 -0.042 0.26" quat="0.707107 -0.707107 0 0">
<inertial diaginertia="0.0102404 0.0096997 0.00369622" mass="2.5097" pos="-0.0048135 -0.0281 -0.084154" quat="0.902999 0.385391 -0.0880901 0.168247" />
<joint axis="0 0 1" limited="true" name="right_j3" pos="0 0 0" range="-3.0439 3.0439" />
<geom conaffinity="0" contype="0" group="1" mesh="l3" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0 -0.01 -0.12" rgba="0.5 0.1 0.1 1" size="0.06" />
<body name="right_l4" pos="0 -0.125 -0.1265" quat="0.707107 0.707107 0 0">
<inertial diaginertia="0.0136549 0.0135493 0.00127353" mass="1.1136" pos="-0.0018844 0.0069001 0.1341" quat="0.803612 0.031257 -0.0298334 0.593582" />
<joint axis="0 0 1" limited="true" name="right_j4" pos="0 0 0" range="-2.9761 2.9761" />
<geom conaffinity="0" contype="0" group="1" mesh="l4" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0 0 0.11" rgba="0.5 0.1 0.1 1" size="0.045 0.15" type="cylinder" />
<body name="right_arm_itb" pos="-0.055 0 0.075" quat="0.707107 0 -0.707107 0">
<inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0" />
</body>
<body name="right_l5" pos="0 0.031 0.275" quat="0.707107 -0.707107 0 0">
<inertial diaginertia="0.00474131 0.00422857 0.00190672" mass="1.5625" pos="0.0061133 -0.023697 0.076416" quat="0.404076 0.9135 0.0473125 0.00158335" />
<joint axis="0 0 1" damping="0.2" limited="true" name="right_j5" pos="0 0 0" range="-2.9761 2.9761" />
<geom conaffinity="0" contype="0" group="1" mesh="l5" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0 0 0.1" rgba="0.5 0.1 0.1 1" size="0.06" />
<body name="right_hand_camera" pos="0.039552 -0.033 0.0695" quat="0.707107 0 0.707107 0">
<inertial diaginertia="0 0 0" mass="0" pos="0.039552 -0.033 0.0695" quat="0.707107 0 0.707107 0" />
</body>
<body name="right_wrist" pos="0 0 0.10541" quat="0.707107 0.707107 0 0">
<inertial diaginertia="0 0 0" mass="0" pos="0 0 0.10541" quat="0.707107 0.707107 0 0" />
</body>
<body name="right_l6" pos="0 -0.11 0.1053" quat="0.0616248 0.06163 -0.704416 0.704416">
<inertial diaginertia="0.000360258 0.000311068 0.000214974" mass="0.3292" pos="-8.0726e-06 0.0085838 -0.0049566" quat="0.479044 0.515636 -0.513069 0.491322" />
<joint axis="0 0 1" damping="0.1" limited="true" name="right_j6" pos="0 0 0" range="-4.7124 4.7124" />
<geom conaffinity="0" contype="0" group="1" mesh="l6" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0 0.015 -0.01" rgba="0.5 0.1 0.1 1" size="0.055 0.025" type="cylinder" />
<body name="right_hand" pos="0 0 0.0245" quat="0.707105 0 0 0.707108">
<inertial diaginertia="1e-08 1e-08 1e-08" mass="1e-08" pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" />
<geom size="1e-08 5e-09" type="cylinder" />
<body name="right_gripper_base" pos="0 0 0.025">
<inertial diaginertia="3e-08 2e-08 2e-08" mass="0.3" pos="0 0 0" quat="-0.5 0.5 0.5 0.5" />
<geom conaffinity="0" contype="0" group="1" mesh="electric_gripper_base" quat="0 0 0.707107 0.707107" type="mesh" />
<geom quat="0 0 0.707107 0.707107" size="0.029 0.05" type="cylinder" />
<body name="right_gripper" pos="0 0 0.095">
<inertial diaginertia="0 0 0" mass="0.0001" pos="0 0 0" />
<site group="1" name="grip_site" pos="0 0 0" rgba="1 0 0 1" size="0.01 0.01 0.01" type="sphere" />
<site group="1" name="grip_site_cylinder" pos="0 0 0" rgba="0 1 0 0.3" size="0.005 10" type="cylinder" />
<camera fovy="75" mode="fixed" name="eye_in_hand" pos="0 0 0" quat="0 -1 1 0" />
</body>
<body name="r_gripper_l_finger" pos="0 0.01 0.02">
<inertial diaginertia="0.01 0.01 0.01" mass="0.02" pos="0 0 0" quat="0 0 0 -1" />
<joint axis="0 1 0" damping="100" limited="true" name="r_gripper_l_finger_joint" pos="0 0 0" range="-0.0115 0.020833" type="slide" />
<geom conaffinity="0" contype="0" group="1" mesh="standard_narrow" name="r_gripper_l_finger" quat="0 0 0 -1" type="mesh" />
<geom conaffinity="1" contype="0" friction="0 0 0" name="l_finger_g0" pos="0 0.01725 0.04" quat="0 0 0 -1" size="0.005 0.00675 0.0375" type="box" />
<geom conaffinity="1" contype="0" friction="0 0 0" name="l_finger_g1" pos="-0.005 -0.003 0.0083" quat="0 0 0 -1" size="0.005 0.025 0.0085" type="box" />
<body name="r_gripper_l_finger_tip" pos="0 0.01725 0.075">
<inertial diaginertia="0.01 0.01 0.01" mass="0.01" pos="0 0 0" quat="0 0 0 1" />
<geom conaffinity="0" contype="0" group="1" mesh="half_round_tip" quat="0 0 0 1" type="mesh" />
<geom conaffinity="1" contype="0" friction="0 0 0" name="l_fingertip_g0" pos="0 -0.0045 -0.015" quat="0 0 0 1" size="0.004 0.004 0.0185" type="box" />
</body>
</body>
<body name="r_gripper_r_finger" pos="0 -0.01 0.02">
<inertial diaginertia="0.01 0.01 0.01" mass="0.02" pos="0 0 0" />
<joint axis="0 1 0" damping="100" limited="true" name="r_gripper_r_finger_joint" pos="0 0 0" range="-0.020833 0.0115" type="slide" />
<geom conaffinity="0" contype="0" group="1" mesh="standard_narrow" name="r_gripper_r_finger" type="mesh" />
<geom conaffinity="1" contype="0" friction="0 0 0" name="r_finger_g0" pos="0 -0.01725 0.04" size="0.005 0.00675 0.0375" type="box" />
<geom conaffinity="1" contype="0" friction="0 0 0" name="r_finger_g1" pos="0.005 0.003 0.0083" size="0.005 0.025 0.0085" type="box" />
<body name="r_gripper_r_finger_tip" pos="0 -0.01725 0.075">
<inertial diaginertia="0.01 0.01 0.01" mass="0.01" pos="0 0 0" />
<geom conaffinity="0" contype="0" group="1" mesh="half_round_tip" type="mesh" />
<geom conaffinity="1" contype="0" friction="0 0 0" name="r_fingertip_g0" pos="0 0.0045 -0.015" size="0.004 0.004 0.0185" type="box" />
</body>
</body>
</body>
</body>
</body>
</body>
<body name="right_l4_2" pos="0 0 0">
<inertial diaginertia="1e-08 1e-08 1e-08" mass="1e-08" pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" />
<geom pos="0 0.01 0.26" size="0.06" />
</body>
</body>
</body>
<body name="right_l2_2" pos="0 0 0">
<inertial diaginertia="1e-08 1e-08 1e-08" mass="1e-08" pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" />
<geom pos="0 0 0.26" size="0.06" />
</body>
</body>
<body name="right_l1_2" pos="0 0 0">
<inertial diaginertia="1e-08 1e-08 1e-08" mass="1e-08" pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" />
<geom pos="0 0 0.035" size="0.07 0.07" type="cylinder" />
</body>
</body>
</body>
</body>
</body>
<body name="cube" pos="0.53522776 -0.0287869 0.82162434" quat="0.8775825618903728 0 0 0.479425538604203"><geom density="500" friction="1.5 0.005 0.0001" group="1" name="cube" pos="0 0 0" rgba="1 0 0 1" size="0.021468043714033182 0.020277904934679812 0.02037460409845906" type="box" /><site name="cube" pos="0 0 0" rgba="1 0 0 1" size="0.002 0.002 0.002" type="sphere" /><joint name="cube" type="free" /></body></worldbody>
<equality>
</equality>
<contact /><default /></mujoco> | 84.280193 | 424 | 0.586667 |
dc1fa7316169b849968b7a82e32329f415289828 | 90,260 | xml | XML | herb_reconf/cluttered_scenes/easy_pushing_055_baseball_3_1.0_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_055_baseball_3_1.0_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_055_baseball_3_1.0_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 file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<!--<mesh name="mustard" class="/" file="ycb_objects/006_mustard_bottle/google_16k/textured.msh"/>
<texture name="mustard_tex" type="2d" file="ycb_objects/006_mustard_bottle/google_16k/texture_map.png"/>
<material name="mustard_mat" class="/" texture="mustard_tex"/>-->
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="ycb_objects/055_baseball/google_16k/nontextured.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/055_baseball/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="1.4214381062106523 1.4214381062106523 1.4214381062106523"/><mesh class="geom0" file="ycb_objects/026_sponge/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="0.7794975203800308 0.7794975203800308 0.7794975203800308"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="2 -1.5 2" target="table"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="cam_target"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" friction="0.67 0.005 0.0001" name="table_plane" pos="0 0 0.3" priority="20" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.5 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="-.2 -0.2 0.29">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" 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/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" 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 4.380576749310083" name="gen_body_0" pos="-0.05 -0.35 0.3002050000039162"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.9879058341563816 0.3658843710081968 0.8564770664289062 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 2.7661445853036724" name="gen_body_gadded_1" pos="0.11959250585557514 -0.36462302256195267 0.3002711334144186"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.3455375636137852 0.41698788076464566 0.4763383028041146 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 5.5008319124927825" name="gen_body_gadded_2" pos="-0.13417426710911534 -0.511521593389386 0.2999153189048967"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.2917932191095691 0.7241498892582389 0.5215807362171015 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"/>-->
<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> | 131.959064 | 10,958 | 0.688467 |
dc21ba769181d967507295149f7f38094804722e | 79,294 | xml | XML | herb_reconf/cluttered_scenes/easy_pushing_025_mug_2_0.9_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_025_mug_2_0.9_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_025_mug_2_0.9_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 file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<!--<mesh name="mustard" class="/" file="ycb_objects/006_mustard_bottle/google_16k/textured.msh"/>
<texture name="mustard_tex" type="2d" file="ycb_objects/006_mustard_bottle/google_16k/texture_map.png"/>
<material name="mustard_mat" class="/" texture="mustard_tex"/>-->
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="ycb_objects/025_mug/google_16k/nontextured.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/004_sugar_box/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="1.558912332067777 1.558912332067777 1.558912332067777"/><mesh class="geom0" file="ycb_objects/013_apple/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="0.9050907665816585 0.9050907665816585 0.9050907665816585"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="table"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="cam_target"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" friction="0.67 0.005 0.0001" name="table_plane" pos="0 0 0.3" priority="20" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.5 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="-.2 -0.2 0.29">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" 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/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" 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 1.2903562692617387" name="gen_body_0" pos="-0.05 -0.35 0.3005319999763742"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.5668770555664084 0.5207315446011407 0.5171328067373954 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 4.985372132483751" name="gen_body_gadded_1" pos="0.16307714425768227 -0.35 0.3023738681633262"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.33464734906734594 0.13364883101127967 0.6023107296414278 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 5.098998478575443" name="gen_body_gadded_2" pos="0.18524671553948674 -0.5242974307698449 0.30043725419905865"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.36752098735838035 0.809866589593372 0.4622711446688125 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> | 115.926901 | 950 | 0.685865 |
dc230a33c2c1c40cd9f9b6a63e2a7ff8d3f349e1 | 2,713 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/4516_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4516_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4516_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/451/451.stl" name="obj0" scale="0.006512791121763143 0.006512791121763143 0.006512791121763143" />
</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="0.009075847965404055 0.04 0.010835070077632472" 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="0.0014051727401016394 0.0005404442437204665 0.036201513175595" size="0.010319901266162501 0.01009214542559104 0.04349875801162931" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="0.001374065017753969 0.0006215936147350228 0.0017786031293697483" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.0014051727401016394 0.0005404442437204665 0.026201513175595" 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> | 50.240741 | 219 | 0.657943 |
dc272834cb51987e59ff1faa1943df6adf3bea8a | 1,768 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/6189_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6189_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6189_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/618/618.stl" name="obj0" scale="0.007477294267677449 0.007477294267677449 0.007477294267677449" />
</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="0.036738814279450964 0.04999393346447106 0.03537704570877442">
<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="0.001975806995415127 -0.010976887158241527 -0.0021841980824050273" rgba="1 0 0 0" size="0.018369407139725482 0.02499696673223553 0.01768852285438721" 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> | 43.121951 | 198 | 0.670249 |
dc27db58b380df87da9b289ca4594b272854dcba | 2,722 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3377_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3377_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3377_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/337/337.stl" name="obj0" scale="0.005501898292458356 0.005501898292458356 0.005501898292458356" />
</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="0.013837216435600694 0.04 0.015284460520991257" 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="-0.0007996588169758012 -0.005771140437327391 0.04443868510434579" size="0.01426461510950074 0.014576630288095157 0.05738129898878426" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="0.00021330604424014146 -0.006365957647466789 0.0008946025511622182" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.0007996588169758012 -0.005771140437327391 0.034438685104345786" 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 | 222 | 0.657237 |
dc28a8072078757f07a19faa9d45eb126bf42c77 | 4,661 | xml | XML | assets/fetch_complex_objects/fetch/train_scene_hook_631.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_631.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_631.xml | NagisaZj/ac-teach | 481811d5c80d0dbee54f16c063b4ea3262b82050 | [
"MIT"
] | 8 | 2019-10-24T23:36:58.000Z | 2022-01-27T13:36:39.000Z | <?xml version="1.0" encoding="utf-8"?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="../stls/fetch" texturedir="../textures"></compiler>
<option timestep="0.002">
<flag warmstart="enable"></flag>
</option>
<include file="shared.xml"></include>
<worldbody>
<geom name="floor0" pos="1.42 0.75 0" size="1.0 0.7 1" type="plane" condim="3" material="floor_mat"></geom>
<body name="floor0" pos="1.42 0.75 0">
<site name="target0" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
</body>
<include file="robot.xml"></include>
<body pos="1.65 0.75 0.2" name="table0">
<geom size="0.5 0.45 0.2" type="box" mass="20000" material="table_mat"></geom><geom size="0.012862817964722602 0.0318997543423906 0.0022383731916504938" pos="0.1101677779183739 0.022565593185783883 0.2022383731916505" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.01015690314889077 0.004278322135238596 0.0007785962326713429" pos="-0.12357933615241393 -0.013561395451442526 0.20077859623267136" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03867928371263358 0.022799250308169997 0.0008537840705537057" pos="-0.29620481642093915 -0.10927045844301203 0.2008537840705537" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.019089799421174204 0.009260045479965309 0.004991888453658013" pos="0.21301427856488891 -0.11834741664710949 0.204991888453658" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.023555745225991704 0.023870221677511672 0.00018129519753270622" pos="0.02803814065933513 0.10795835967775808 0.20018129519753272" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0011590012320622353 0.023704324604042218 0.0043081962081011616" pos="-0.029764911458158627 0.1546968805874548 0.20430819620810117" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.031622450573472405 0.04767201353612992 0.00018417531976754924" pos="-0.22425872060586405 0.11856692493870069 0.20018417531976757" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.013083780974667947 0.049178229149624414 0.0008473000932374972" pos="-0.003531688862874083 -0.00227479970145561 0.2008473000932375" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03634072114466724 0.030361991139916705 0.0034268181425383946" pos="0.05499997762783421 0.014520305519979404 0.2034268181425384" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.004185572325533027 0.03484238491046353 0.0021163615066385716" pos="-0.10237625784497772 -0.2966641907326233 0.2021163615066386" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
</body>
<body pos="1.375 0.67500002608655 0.4131091983349999" name="object0">
<light castshadow="false"/>
<geom type="mesh" density="1508.56130194" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
<joint name="object0:joint" type="free" damping="2.340571212020141"></joint>
<site name="object0" pos="0.0 0.009999973913450089 0.006890801665000057" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere"></site>
</body>
<body name="hook" pos="1.0 0.025 0.025">
<joint name="hook:joint" type="free" damping="0.01"></joint>
<geom size="0.4 0.015 0.015" type="box" condim="3" name="hook_base" material="block_mat" mass="2"></geom>
<geom size="0.015 0.1 0.015" pos="0.4 0.085 0." type="box" condim="3" name="hook_head" material="block_mat" mass="2"></geom>
<site name="hook" pos="-0.25 0 0" size="0.002 0.002 0.002" rgba="1 0 0 1" type="sphere"></site>
</body>
<light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false" pos="0 0 4" dir="0 0 -1" name="light0"></light>
</worldbody>
<asset>
<mesh scale="0.003419217427455 0.003419217427455 0.003419217427455" file="mujoco_models/circ-sq-tri.stl" name="object_mesh"/>
<texture file="textures/obj_textures/spiralled_0018.png" name="object"/>
<material specular="1" texture="object" rgba="0.9 0.9 0.9 1" shininess="0.3" name="object"/>
</asset>
<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>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1"></position>
</actuator>
</mujoco>
| 79 | 280 | 0.678824 |
dc29790f511785fdf99e4658207071a784fd0471 | 2,727 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3318_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3318_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3318_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/331/331.stl" name="obj0" scale="0.0064255051430947945 0.0064255051430947945 0.0064255051430947945" />
</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="0.006783926245481766 0.04 0.007903037199739156" 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="-0.0008123664352809974 -0.013895214469071488 0.043203355716008515" size="0.007991292647724576 0.008165096341922841 0.05076126375142303" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="-0.0008017919431584444 -0.013806335367965742 -0.0007739817899327456" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.0008123664352809974 -0.013895214469071488 0.03320335571600852" 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> | 50.5 | 224 | 0.657132 |
dc2ba2d07c0e2410b9b6644abbf387b97f53fbf6 | 1,454 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3685_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3685_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3685_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/368/368.stl" name="obj0" scale="0.00788690425853498 0.00788690425853498 0.00788690425853498" />
</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="0.009418844711356426 0.045710821115313806 0.22179002189797517">
<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> | 38.263158 | 155 | 0.618294 |
dc2e64d457566f4a1875ec36fae2d974f81b5673 | 79,301 | xml | XML | herb_reconf/cluttered_scenes/hard_pushing_009_gelatin_box_2_0.8_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/hard_pushing_009_gelatin_box_2_0.8_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/hard_pushing_009_gelatin_box_2_0.8_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 file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<!--<mesh name="mustard" class="/" file="ycb_objects/006_mustard_bottle/google_16k/textured.msh"/>
<texture name="mustard_tex" type="2d" file="ycb_objects/006_mustard_bottle/google_16k/texture_map.png"/>
<material name="mustard_mat" class="/" texture="mustard_tex"/>-->
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="ycb_objects/009_gelatin_box/google_16k/nontextured.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/013_apple/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="0.7907050789006633 0.7907050789006633 0.7907050789006633"/><mesh class="geom0" file="ycb_objects/061_foam_brick/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="1.9241836746250796 1.9241836746250796 1.9241836746250796"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="table"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="cam_target"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" friction="0.67 0.005 0.0001" name="table_plane" pos="0 0 0.3" priority="20" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.5 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="-.2 -0.2 0.29">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" 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/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" 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 4.229084824899108" name="gen_body_0" pos="0 0 0.30054500001715495"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.7102691242388469 0.2862522407780743 0.26644478274432537 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 2.090302812889478" name="gen_body_gadded_1" pos="0.08316295242056904 0.0 0.30038199385174696"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.01842019163881592 0.8120677497134865 0.39228586972815505 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 6.254057181233616" name="gen_body_gadded_2" pos="0.19868270196805682 0.31368274572759236 0.30229423038091413"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.35867997400339335 0.0019877899549317624 0.809332148691519 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> | 115.937135 | 945 | 0.685969 |
dc2e7b653caebd1f77e19907234bc510417ad1c6 | 1,769 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/8531_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8531_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8531_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/853/853.stl" name="obj0" scale="0.015502265772284382 0.015502265772284382 0.015502265772284382" />
</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="0.025566127431063474 0.09940096219532907 0.03623954593114168">
<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="4.539188947395559e-05 -0.003906760044935762 0.0003190328779116892" rgba="1 0 0 0" size="0.012783063715531737 0.049700481097664534 0.01811977296557084" 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> | 43.146341 | 199 | 0.670435 |
dc2fbb4fd7fba71263383efdb64e7ae383130f95 | 666 | xml | XML | envs/mujoco/envs/assets/hammer/nail_no_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/hammer/nail_no_collision.xml | hzm2016/assistive-gym-robosuite | 5c529f4444cc386383618bfa584341740a8468f9 | [
"MIT"
] | null | null | null | envs/mujoco/envs/assets/hammer/nail_no_collision.xml | hzm2016/assistive-gym-robosuite | 5c529f4444cc386383618bfa584341740a8468f9 | [
"MIT"
] | null | null | null | <mujoco>
<body name="nail_base" euler="0 0 0" pos="0 0 0">
<body name="nail" euler="0 0 0" pos="0 0 .1">
<joint type="slide" name="nail_position" pos="0 0 0" axis="0 0 1.0" limited="true" range="-0.1 0"/>
<geom class="visual" type="cylinder" euler="0 0 0" pos="0 0 0.05" size="0.0075 0.05" mass=".05"/>
<geom class="visual" type="cylinder" euler="0 0 0" pos="0 0 0.105" size="0.015 0.005" mass=".05"/>
<site name="nail_top" pos="0 0 0.105" euler="0 0 0" size="0.005 0.005 0.005"/>
</body>
<geom class="visual" type="box" euler="0 0 0" pos="0 0 0" size="0.1 0.1 0.1"/>
</body>
</mujoco> | 55.5 | 111 | 0.539039 |
dc3001fb228fd1d30fb7bd405b91f5ed666a302a | 2,711 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/5379_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5379_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5379_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/537/537.stl" name="obj0" scale="0.006679914607311618 0.006679914607311618 0.006679914607311618" />
</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="0.02834302797690186 0.04 0.017559064013705182" 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="0.001680189201453363 0.01022486229799047 0.041113181357868823" size="0.019135729975432766 0.011737870144945367 0.05926642790849803" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="0.004631047709748159 0.005962784195097294 -0.000594182536924025" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.001680189201453363 0.01022486229799047 0.03111318135786882" 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 | 0.657322 |
dc30757953f3e91a83bfca017d2cd6072b770757 | 79,293 | xml | XML | herb_reconf/cluttered_scenes/hard_pushing_025_mug_1_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_025_mug_1_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_025_mug_1_0.4_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 file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<!--<mesh name="mustard" class="/" file="ycb_objects/006_mustard_bottle/google_16k/textured.msh"/>
<texture name="mustard_tex" type="2d" file="ycb_objects/006_mustard_bottle/google_16k/texture_map.png"/>
<material name="mustard_mat" class="/" texture="mustard_tex"/>-->
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="ycb_objects/025_mug/google_16k/nontextured.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/002_master_chef_can/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="1.0753497818837237 1.0753497818837237 1.0753497818837237"/><mesh class="geom0" file="ycb_objects/025_mug/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="0.9945944354361081 0.9945944354361081 0.9945944354361081"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="table"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="cam_target"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" friction="0.67 0.005 0.0001" name="table_plane" pos="0 0 0.3" priority="20" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.5 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="-.2 -0.2 0.29">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" 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/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" 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 0.6877311900575054" name="gen_body_0" pos="0 0 0.3005319999763742"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.5643527164421449 0.021966363362830865 0.5039297157380241 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 2.5697019005044757" name="gen_body_gadded_1" pos="0.11364357042718026 0.0 0.29990023700092183"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.9931753386538358 0.704934564590077 0.6872776525954919 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 3.8533689929519355" name="gen_body_gadded_2" pos="-0.5954939454052948 -0.3980976175981687 0.2993427323680491"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.05072930835878586 0.6471009139160326 0.5022892890585874 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> | 115.925439 | 942 | 0.685912 |
dc311a2b678edfbbe702aa317661ec26191aaf32 | 2,725 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/1707_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1707_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1707_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/170/170.stl" name="obj0" scale="0.0063128971700071096 0.0063128971700071096 0.0063128971700071096" />
</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="0.024351672562649584 0.04 0.01703823169437371" 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="-6.054148497273027e-05 -0.00955274536266031 0.042102189267335915" size="0.021311020328183487 0.019836960407996658 0.059163167486559975" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="-0.003001633294810121 -0.008297281932772934 -2.2746524850356032e-05" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-6.054148497273027e-05 -0.00955274536266031 0.03210218926733591" 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> | 50.462963 | 224 | 0.65578 |
dc333a9d7759ab73dfbd9f1f17ee49db93de669f | 77,282 | xml | XML | herb_reconf/cluttered_scenes/grasping_018_plum_1_1.0_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/grasping_018_plum_1_1.0_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/grasping_018_plum_1_1.0_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 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" friction="2 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" 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 file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="ycb_objects/018_plum/google_16k/nontextured.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/057_racquetball/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="0.8582693327892883 0.8582693327892883 0.8582693327892883"/><mesh class="geom0" file="ycb_objects/014_lemon/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="1.2867649066554037 1.2867649066554037 1.2867649066554037"/><mesh class="geom0" file="ycb_objects/035_power_drill/google_16k/nontextured.stl" name="gen_mesh_gadded_3" scale="1.4564171013178489 1.4564171013178489 1.4564171013178489"/><mesh class="geom0" file="ycb_objects/024_bowl/google_16k/nontextured.stl" name="gen_mesh_gadded_4" scale="0.5084830561275566 0.5084830561275566 0.5084830561275566"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="cam_target"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="table"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" name="table_plane" pos="0 0 0.3" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.6999996 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="0 0 0.45">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" 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/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" 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" euler="0 0 0.5">
<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="box_0" pos="0.175 0.0 0.3725">
<geom name="box_geom_0" class="/" type="box" group="1" size="0.055 0.055 0.065" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="target_obj" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_15" class="geom0" type="box" 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 2.109491239336" name="gen_body_0" pos="0 0 0.30029699999140574"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.27883219650812474 0.573458778156261 0.36036775351217787 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 4.321487525388418" name="gen_body_gadded_1" pos="0.043631140860242404 0.0 0.3001637377619743"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.4394133905542682 0.45912741415930847 0.44109364881595503 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 2.866526150099614" name="gen_body_gadded_2" pos="0.09178780891029226 0.28214527013260166 0.30029912253632746"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.7098801749484813 0.2508888888035141 0.13912571384929584 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 0.8176280469708405" name="gen_body_gadded_3" pos="0.3689297574614815 -0.07177811346103653 0.30445512297000166"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.39484508914112904 0.29726118989036043 0.8420253371973815 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 3.600694454408042" name="gen_body_gadded_4" pos="0.023345568616732884 0.19112302247128354 0.2990955742798665"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.9201851089093368 0.8999400553779855 0.24728971045515213 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="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> | 121.321821 | 1,614 | 0.684726 |
dc34f032214e6256d73366eb1af0ea9c79a17b5e | 2,722 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7542_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7542_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7542_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/754/754.stl" name="obj0" scale="0.005944353421532677 0.005944353421532677 0.005944353421532677" />
</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="0.016434939423323414 0.04 0.03498867229151109" 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="-0.0061836152307217975 -0.00706718526982134 0.03058407600808298" size="0.024415100442916483 0.013409342359923034 0.04683294032428541" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="-2.623385573058081e-05 -5.8479424390511306e-05 0.00018607510712098877" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.0061836152307217975 -0.00706718526982134 0.02058407600808298" 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 | 222 | 0.656135 |
dc36177dabc4103175d3213a2742aef918bf1de1 | 358 | xml | XML | robogym/assets/xmls/holdouts/jenga/piece.xml | 0xflotus/robogym | 5ec2fcbda9828941fe3072792dd25fb5a915bbbb | [
"MIT"
] | 288 | 2020-11-12T21:39:34.000Z | 2022-03-19T23:27:50.000Z | robogym/assets/xmls/holdouts/jenga/piece.xml | 0xflotus/robogym | 5ec2fcbda9828941fe3072792dd25fb5a915bbbb | [
"MIT"
] | 3 | 2020-12-12T19:19:30.000Z | 2022-03-24T05:21:39.000Z | robogym/assets/xmls/holdouts/jenga/piece.xml | 0xflotus/robogym | 5ec2fcbda9828941fe3072792dd25fb5a915bbbb | [
"MIT"
] | 31 | 2020-11-12T22:31:01.000Z | 2022-02-28T20:34:48.000Z | <?xml version="1.0" encoding="utf-8"?>
<mujoco>
<asset>
<material name="block_mat" rgba="1.0 0 0 1.0" specular="0.25" shininess="0.10" reflectance="0.10"></material>
</asset>
<worldbody>
<body name="jenga">
<geom type="box" size=".0125 .0375 .0075" material="block_mat" />
<joint type="free"/>
</body>
</worldbody>
</mujoco>
| 25.571429 | 113 | 0.597765 |
dc36c73259a7347f58ee67a742414de5a624f416 | 1,770 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7846_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7846_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7846_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/784/784.stl" name="obj0" scale="0.011459226112063734 0.011459226112063734 0.011459226112063734" />
</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="0.030996152384330095 0.08569466546227476 0.021115469046881472">
<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="-0.00670784289679886 0.0018948331157265387 -0.0019828929712905645" rgba="1 0 0 0" size="0.015498076192165047 0.04284733273113738 0.010557734523440736" 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 | 199 | 0.670621 |
dc37bc4fb7031ae2902aa11f63cc8f815a86bc64 | 1,457 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3081_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3081_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3081_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/308/308.stl" name="obj0" scale="0.009018827803810065 0.009018827803810065 0.009018827803810065" />
</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="0.014380372122516387 0.055648575576531724 0.22517625622854748">
<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 |
dc39b81da687f43a004ffbfd484892be5cbfb010 | 1,770 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7700_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7700_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7700_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/770/770.stl" name="obj0" scale="0.006125148735730055 0.006125148735730055 0.006125148735730055" />
</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="0.026192906161966345 0.038690191068471665 0.04155970074818648">
<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="-0.0006693865907861761 -0.004394034865979821 0.002709549502017156" rgba="1 0 0 0" size="0.013096453080983173 0.019345095534235832 0.02077985037409324" 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 | 199 | 0.670621 |
dc3aa621f5c45458fb11924d0794a1d82ed1d8ea | 2,719 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/772_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/772_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/772_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/077/077.stl" name="obj0" scale="0.004534396800529618 0.004534396800529618 0.004534396800529618" />
</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="0.030435605897436477 0.04 0.014598996084548364" 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="0.004891545018626368 -0.0005084549129366882 0.048191044523741906" size="0.015724341726515916 0.016362718176891937 0.05994909652283863" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="0.006639637218481527 -0.013981400403635316 0.002840944085451638" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.004891545018626368 -0.0005084549129366882 0.038191044523741904" 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 | 223 | 0.657595 |
dc3ade1af617471f5f1f72137435e98a1f2b35da | 79,298 | xml | XML | herb_reconf/cluttered_scenes/hard_pushing_035_power_drill_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_035_power_drill_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_035_power_drill_2_0.4_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 file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<!--<mesh name="mustard" class="/" file="ycb_objects/006_mustard_bottle/google_16k/textured.msh"/>
<texture name="mustard_tex" type="2d" file="ycb_objects/006_mustard_bottle/google_16k/texture_map.png"/>
<material name="mustard_mat" class="/" texture="mustard_tex"/>-->
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="ycb_objects/035_power_drill/google_16k/nontextured.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/019_pitcher_base/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="0.9016944527076354 0.9016944527076354 0.9016944527076354"/><mesh class="geom0" file="ycb_objects/011_banana/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="0.5046419678198586 0.5046419678198586 0.5046419678198586"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="table"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="cam_target"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" friction="0.67 0.005 0.0001" name="table_plane" pos="0 0 0.3" priority="20" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.5 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="-.2 -0.2 0.29">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" 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/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" 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 5.149783635097602" name="gen_body_0" pos="0 0 0.3031729999464005"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.1453385119550853 0.18841878216480268 0.9279060853106005 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 1.0178463847833976" name="gen_body_gadded_1" pos="0.279851306197197 0.0 0.30796641668325775"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.10279099115744117 0.9966837464323671 0.39939711727470983 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 3.636283655330808" name="gen_body_gadded_2" pos="-0.25690653058130597 0.1304445161909703 0.3001532361593195"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.4797124410929682 0.26339939796018386 0.073235692753993 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> | 115.932749 | 939 | 0.685944 |
dc3b9df3e1fd7853f78564814267b083be8dee8c | 4,068 | xml | XML | assets/fetch_complex_objects/fetch/train_scene_hook_491.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_491.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_491.xml | NagisaZj/ac-teach | 481811d5c80d0dbee54f16c063b4ea3262b82050 | [
"MIT"
] | 8 | 2019-10-24T23:36:58.000Z | 2022-01-27T13:36:39.000Z | <?xml version="1.0" encoding="utf-8"?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="../stls/fetch" texturedir="../textures"></compiler>
<option timestep="0.002">
<flag warmstart="enable"></flag>
</option>
<include file="shared.xml"></include>
<worldbody>
<geom name="floor0" pos="1.42 0.75 0" size="1.0 0.7 1" type="plane" condim="3" material="floor_mat"></geom>
<body name="floor0" pos="1.42 0.75 0">
<site name="target0" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
</body>
<include file="robot.xml"></include>
<body pos="1.65 0.75 0.2" name="table0">
<geom size="0.5 0.45 0.2" type="box" mass="20000" material="table_mat"></geom><geom size="0.011445728312282862 0.040597283308007305 0.00034674057383844557" pos="0.005358284245948974 0.18325903519635028 0.20034674057383844" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04921209416675438 0.009118785362695857 0.004962129290266397" pos="0.12074482282935811 -0.2287936371682669 0.20496212929026641" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04766334575763081 0.042444173335745516 0.003435635977680441" pos="0.2283736020848019 0.23534734935348095 0.20343563597768044" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.022040832568563817 0.016736561454426622 0.0039604343557579184" pos="-0.014122235328004495 0.2571730959858571 0.20396043435575792" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.023435456510467648 0.04234947210200891 0.0037167846322041765" pos="-0.05985731636456759 -0.1237639677698038 0.2037167846322042" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.009874223763755914 0.04922070493487968 0.002318258759049912" pos="-0.01630375940823886 -0.11577050124965016 0.20231825875904993" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.01939614961431485 0.012934105288829142 0.0008967001212471966" pos="-0.01745528114707784 0.2677531361103705 0.20089670012124722" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
</body>
<body pos="1.375 0.6749999999999999 0.4129999999999999" name="object0">
<light castshadow="false"/>
<geom type="mesh" density="4542.1326144" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
<joint name="object0:joint" type="free" damping="4.215549832548958"></joint>
<site name="object0" pos="0.0 0.01000000000000012 0.007000000000000062" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere"></site>
</body>
<body name="hook" pos="1.0 0.025 0.025">
<joint name="hook:joint" type="free" damping="0.01"></joint>
<geom size="0.4 0.015 0.015" type="box" condim="3" name="hook_base" material="block_mat" mass="2"></geom>
<geom size="0.015 0.1 0.015" pos="0.4 0.085 0." type="box" condim="3" name="hook_head" material="block_mat" mass="2"></geom>
<site name="hook" pos="-0.25 0 0" size="0.002 0.002 0.002" rgba="1 0 0 1" type="sphere"></site>
</body>
<light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false" pos="0 0 4" dir="0 0 -1" name="light0"></light>
</worldbody>
<asset>
<mesh scale="0.001194722042035 0.001194722042035 0.001194722042035" file="mujoco_models/Bishop.stl" name="object_mesh"/>
<texture file="textures/obj_textures/wrinkled_0133.png" name="object"/>
<material specular="1" texture="object" rgba="0.9 0.9 0.9 1" shininess="0.3" name="object"/>
</asset>
<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>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1"></position>
</actuator>
</mujoco>
| 72.642857 | 285 | 0.664454 |
dc3bcdd76afc62bb66f7370f3f1f9f511f431d79 | 1,456 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/146_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/146_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/146_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/014/014.stl" name="obj0" scale="0.007120656725161057 0.007120656725161057 0.007120656725161057" />
</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="0.02160310053449566 0.044120845865009896 0.21653646844827457">
<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 |
dc40647c51d15932bf3810452d2e3b6140225374 | 1,120 | xml | XML | counters.xml | ShahRutav/furniture_sim | 138fa67e319f9b41dab47191d51b20a9080cd76e | [
"Apache-2.0"
] | 7 | 2020-12-07T06:01:27.000Z | 2022-01-30T00:41:38.000Z | counters.xml | ShahRutav/furniture_sim | 138fa67e319f9b41dab47191d51b20a9080cd76e | [
"Apache-2.0"
] | null | null | null | counters.xml | ShahRutav/furniture_sim | 138fa67e319f9b41dab47191d51b20a9080cd76e | [
"Apache-2.0"
] | 1 | 2021-06-30T14:05:00.000Z | 2021-06-30T14:05:00.000Z | <mujoco model="counters">
<!-- =================================================
Copyright 2019 Vikash Kumar
Model :: counters (MuJoCoV2.0)
Author :: Vikash Kumar ([email protected])
Details :: https://github.com/vikashplus/furniture_sim
License :: Under Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
====================================================== -©vk©-->
<compiler angle="radian" meshdir="" texturedir=""/>
<include file="../furniture_sim/counters/counters_asset.xml"/>
<worldbody>
<body>
<include file="../furniture_sim/counters/counters_body.xml"/>
</body>
</worldbody>
</mujoco>
| 53.333333 | 519 | 0.645536 |
dc409dcd454fb191e6b3faa6d8b3712929c47cf1 | 2,717 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/125_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/125_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/125_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/012/012.stl" name="obj0" scale="0.00604727456894271 0.00604727456894271 0.00604727456894271" />
</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="0.012620302212546583 0.04 0.011428568836882327" 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="-0.0011142886387217484 -0.01159302687379421 0.04405410672282994" size="0.012454312997767869 0.011869796823836024 0.05487602215185809" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="-0.001153004604136603 -0.010917642661702353 0.0006066534078541754" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.0011142886387217484 -0.01159302687379421 0.034054106722829935" 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> | 50.314815 | 222 | 0.656238 |
dc40abeee41c0f222519dc397c3a219748d12205 | 1,454 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/100_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/100_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/100_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/010/010.stl" name="obj0" scale="0.015579096276419529 0.015579096276419529 0.015579096276419529" />
</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="0.022820486122595334 0.127716963901199 0.22339958449983427">
<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> | 38.263158 | 155 | 0.618294 |
dc4130cccafa6d9a60cf92eb6575a5a3ca2c821e | 79,824 | xml | XML | herb_reconf/cluttered_scenes/easy_pushing_014_lemon_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/easy_pushing_014_lemon_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/easy_pushing_014_lemon_1_0.3_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 file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<!--<mesh name="mustard" class="/" file="ycb_objects/006_mustard_bottle/google_16k/textured.msh"/>
<texture name="mustard_tex" type="2d" file="ycb_objects/006_mustard_bottle/google_16k/texture_map.png"/>
<material name="mustard_mat" class="/" texture="mustard_tex"/>-->
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="ycb_objects/014_lemon/google_16k/nontextured.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/061_foam_brick/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="1.4400478378453925 1.4400478378453925 1.4400478378453925"/><mesh class="geom0" file="ycb_objects/007_tuna_fish_can/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="1.6074146310163369 1.6074146310163369 1.6074146310163369"/><mesh class="geom0" file="ycb_objects/002_master_chef_can/google_16k/nontextured.stl" name="gen_mesh_gadded_3" scale="1.6448001147838007 1.6448001147838007 1.6448001147838007"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="2 -1.5 2" target="table"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="cam_target"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" friction="0.67 0.005 0.0001" name="table_plane" pos="0 0 0.3" priority="20" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.5 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="-.2 -0.2 0.29">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" 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/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" 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 4.64055443607374" name="gen_body_0" pos="-0.05 -0.35 0.30023499999952036"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.7548085565232292 0.9585669535957945 0.3871855111941246 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 5.957967868563801" name="gen_body_gadded_1" pos="0.07190965765391259 -0.35 0.30171698863446744"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.2942671450783563 0.6947084975966225 0.5283324695119122 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 0.20164843289166054" name="gen_body_gadded_2" pos="-0.0029197488001330985 -0.038992353761086895 0.30539234971347645"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.2669595682553203 0.6105784922965125 0.3286285272061361 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 5.122015309367782" name="gen_body_gadded_3" pos="0.16902013491152992 -0.0943991549712444 0.29984740793565007"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.39289877466777023 0.8288198496877962 0.3806806866760377 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> | 116.701754 | 1,291 | 0.686698 |
dc427384797e18db682a5727845c0108ec5107ac | 77,287 | xml | XML | herb_reconf/cluttered_scenes/grasping_026_sponge_0_1.0_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/grasping_026_sponge_0_1.0_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/grasping_026_sponge_0_1.0_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 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" friction="2 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" 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 file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="ycb_objects/026_sponge/google_16k/nontextured.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/018_plum/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="0.5906345050310717 0.5906345050310717 0.5906345050310717"/><mesh class="geom0" file="ycb_objects/011_banana/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="1.7915449796290706 1.7915449796290706 1.7915449796290706"/><mesh class="geom0" file="ycb_objects/021_bleach_cleanser/google_16k/nontextured.stl" name="gen_mesh_gadded_3" scale="0.6135239378670264 0.6135239378670264 0.6135239378670264"/><mesh class="geom0" file="ycb_objects/014_lemon/google_16k/nontextured.stl" name="gen_mesh_gadded_4" scale="1.4577956345719842 1.4577956345719842 1.4577956345719842"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="cam_target"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="table"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" name="table_plane" pos="0 0 0.3" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.6999996 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="0 0 0.45">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" 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/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" 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" euler="0 0 0.5">
<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="box_0" pos="0.175 0.0 0.3725">
<geom name="box_geom_0" class="/" type="box" group="1" size="0.055 0.055 0.065" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="target_obj" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_15" class="geom0" type="box" 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 5.299616669732335" name="gen_body_0" pos="0 0 0.29988399999710963"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.45678479512740744 0.2027367959530746 0.12447204356040464 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 5.640613005253041" name="gen_body_gadded_1" pos="0.09189676327380779 0.0 0.30001540891718337"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.46015522861860947 0.04951725716102018 0.6700751198593469 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 1.5008568215125349" name="gen_body_gadded_2" pos="-0.24500467758873898 -0.06374507961934209 0.30054400844705004"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.6773812659080244 0.6328025195486112 0.8283729730905547 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 0.5899553732603009" name="gen_body_gadded_3" pos="0.06624138951568467 -0.5745306740547933 0.30131714586758584"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.9689745792187128 0.903558757371512 0.3012763800448538 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 1.2237616028484342" name="gen_body_gadded_4" pos="0.3331000354708811 -0.0355935022661217 0.30033888054367436"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.14319548790904457 0.2943534185464737 0.41683916805607724 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="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> | 121.32967 | 1,618 | 0.684708 |
dc430c677cb1f8fe2bf29ba515713e2c23fe115d | 1,456 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/1379_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1379_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1379_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/137/137.stl" name="obj0" scale="0.004542392088668146 0.004542392088668146 0.004542392088668146" />
</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="0.01827662572261436 0.030600108204818507 0.22671375563594837">
<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 |
Subsets and Splits
No community queries yet
The top public SQL queries from the community will appear here once available.