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herb_reconf/cluttered_scenes/grasping_lamp_3_0_0.9_scene.xml
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wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
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f55c6b0fac44d9d749e7804d99169a39d30c2111
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[
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herb_reconf/cluttered_scenes/grasping_lamp_3_0_0.9_scene.xml
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wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
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f55c6b0fac44d9d749e7804d99169a39d30c2111
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[
"MIT"
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herb_reconf/cluttered_scenes/grasping_lamp_3_0_0.9_scene.xml
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wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
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f55c6b0fac44d9d749e7804d99169a39d30c2111
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[
"MIT"
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<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>
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<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"/>
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<!--
<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"/>
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<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">
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<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
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<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">
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<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">
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<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">
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<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"/>
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<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">
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<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"/>
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<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
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<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
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<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
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<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">
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<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"/>
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<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">
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<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"/>
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<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">
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<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"/>
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</body>
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</body>
<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
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<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"/>
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<body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
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<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>
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</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"/>
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<geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/>
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</body>
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<joint name="//unnamed_joint_3" class="/" type="free"/>
</body>
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<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> -->
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<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>-->
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</body>-->
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</body>-->
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<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"/>
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<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>-->
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<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>-->
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</body>-->
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<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 6.263709114927447" name="gen_body_0" pos="0 0 0.5010347247123719"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.6166791578860337 0.2791654521552399 0.12567557205270352 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 6.279774404872378" name="gen_body_gadded_1" pos="0.14536803009948496 0.0 0.30065462471156246"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.42309305620941207 0.1124829611777034 0.9817302224595447 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 0.8693597483835219" name="gen_body_gadded_2" pos="0.5065110445035749 0.19138897803819888 0.30020639224904117"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.40981153840031204 0.5963554720245628 0.0873176444474637 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 3.885265670232556" name="gen_body_gadded_3" pos="-0.14646074137228177 -0.1820542400314876 0.2998978849041553"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.8244786721499752 0.9065506763544786 0.37345791962726205 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" /> -->
</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>
| 120.516484 | 1,277 | 0.683909 |
b7ba755f98b916e8d784209bcb18e76a41a9ea0e
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xml
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XML
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robosuite/my_xmls/kinova3/[0.9, 0.9, 0.9, 0.9, 1.1, 1.1, 1.1, 1.1].xml
|
NagisaZj/dreamer
|
4e2fd305341518708a71612054410589900df8a3
|
[
"MIT"
] | 2 |
2021-12-05T01:34:31.000Z
|
2021-12-05T01:35:37.000Z
|
robosuite/my_xmls/kinova3/[0.9, 0.9, 0.9, 0.9, 1.1, 1.1, 1.1, 1.1].xml
|
NagisaZj/dreamer
|
4e2fd305341518708a71612054410589900df8a3
|
[
"MIT"
] | null | null | null |
robosuite/my_xmls/kinova3/[0.9, 0.9, 0.9, 0.9, 1.1, 1.1, 1.1, 1.1].xml
|
NagisaZj/dreamer
|
4e2fd305341518708a71612054410589900df8a3
|
[
"MIT"
] | null | null | null |
<mujoco model="kinova3">
<actuator>
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<motor ctrllimited="true" ctrlrange="-32.0 32.0" joint="Actuator2" name="torq_j2" />
<motor ctrllimited="true" ctrlrange="-32.0 32.0" joint="Actuator3" name="torq_j3" />
<motor ctrllimited="true" ctrlrange="-32.0 32.0" joint="Actuator4" name="torq_j4" />
<motor ctrllimited="true" ctrlrange="-32.0 32.0" joint="Actuator5" name="torq_j5" />
<motor ctrllimited="true" ctrlrange="-13.0 13.0" joint="Actuator6" name="torq_j6" />
<motor ctrllimited="true" ctrlrange="-13.0 13.0" joint="Actuator7" name="torq_j7" />
</actuator>
<asset>
<mesh file="/home/lthpc/Desktop/meta-role/robosuite/robosuite/models/assets/robots/kinova3/meshes/base_link.stl" name="base_link" />
<mesh file="/home/lthpc/Desktop/meta-role/robosuite/robosuite/models/assets/robots/kinova3/meshes/shoulder_link.stl" name="shoulder_link" />
<mesh file="/home/lthpc/Desktop/meta-role/robosuite/robosuite/models/assets/robots/kinova3/meshes/half_arm_1_link.stl" name="half_arm_1_link" />
<mesh file="/home/lthpc/Desktop/meta-role/robosuite/robosuite/models/assets/robots/kinova3/meshes/half_arm_2_link.stl" name="half_arm_2_link" />
<mesh file="/home/lthpc/Desktop/meta-role/robosuite/robosuite/models/assets/robots/kinova3/meshes/forearm_link.stl" name="forearm_link" />
<mesh file="/home/lthpc/Desktop/meta-role/robosuite/robosuite/models/assets/robots/kinova3/meshes/spherical_wrist_1_link.stl" name="spherical_wrist_1_link" />
<mesh file="/home/lthpc/Desktop/meta-role/robosuite/robosuite/models/assets/robots/kinova3/meshes/spherical_wrist_2_link.stl" name="spherical_wrist_2_link" />
<mesh file="/home/lthpc/Desktop/meta-role/robosuite/robosuite/models/assets/robots/kinova3/meshes/bracelet_with_vision_link.stl" name="bracelet_with_vision_link" />
</asset>
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<body name="shoulder_link" pos="0 0 0.15643" quat="-3.67321e-06 1 0 0">
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<joint axis="0 0 1" damping="0.1" name="Actuator1" pos="0 0 0" />
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<geom conaffinity="0" mesh="shoulder_link" name="s_collision" rgba="" type="mesh" />
<body name="HalfArm1_Link" pos="0 0.005375 -0.12838" quat="0.707105 0.707108 0 0">
<inertial diaginertia="0.0113017 0.011088 0.00102532" mass="1.04724" pos="-4.4e-05 -0.09958 -0.013278" quat="0.482348 0.516286 -0.516862 0.483366" />
<joint axis="0 0 1" damping="0.1" limited="true" name="Actuator2" pos="0 0 0" range="-2.41 2.41" />
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<body name="HalfArm2_Link" pos="0 -0.21038 -0.006375" quat="0.707105 -0.707108 0 0">
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<inertial diaginertia="0.00834839 0.008147 0.000598606" mass="1.02322" pos="-1.8e-05 -0.075478 -0.015006" quat="0.483678 0.515961 -0.515859 0.483455" />
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<body name="SphericalWrist1_Link" pos="0 -0.20843 -0.006375" quat="0.707105 -0.707108 0 0">
<inertial diaginertia="0.00165901 0.001596 0.000346988" mass="0.7459100000000001" pos="1e-06 -0.009432 -0.063883" quat="0.703558 0.0707492 -0.0707492 0.703558" />
<joint axis="0 0 1" damping="0.1" name="Actuator5" pos="0 0 0" />
<geom conaffinity="0" contype="0" group="1" mesh="spherical_wrist_1_link" name="w1_visual" rgba="1 1 1 1" type="mesh" />
<geom conaffinity="0" mesh="spherical_wrist_1_link" name="w1_collision" rgba="" type="mesh" />
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<joint axis="0 0 1" damping="0.01" limited="true" name="Actuator6" pos="0 0 0" range="-2.23 2.23" />
<geom conaffinity="0" contype="0" group="1" mesh="spherical_wrist_2_link" name="w2_visual" rgba="1 1 1 1" type="mesh" />
<geom conaffinity="0" mesh="spherical_wrist_2_link" name="w2_collision" rgba="" type="mesh" />
<body name="Bracelet_Link" pos="0 -0.10593 -0.00017505" quat="0.707105 -0.707108 0 0">
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<joint axis="0 0 1" damping="0.01" name="Actuator7" pos="0 0 0" />
<geom conaffinity="0" contype="0" group="1" mesh="bracelet_with_vision_link" name="b_visual" rgba="1 1 1 1" type="mesh" />
<geom conaffinity="0" mesh="bracelet_with_vision_link" name="b_collision" rgba="" type="mesh" />
<body name="right_hand" pos="0 0 -0.065" quat="0 0.707105 -0.707108 0">
<site group="1" name="ee" pos="0 0 0" rgba="0 0 1 1" size="0.01 0.01 0.01" type="sphere" />
<site group="1" name="ee_x" pos="0 0 0" quat="0.707105 0.707108 0 0 " rgba="1 0 0 0" size="0.005 .1" type="cylinder" />
<site group="1" name="ee_z" pos="0 0 0" quat="0.707105 0 0 0.707108" rgba="0 0 1 0" size="0.005 .1" type="cylinder" />
<site group="1" name="ee_y" pos="0 0 0" quat="0.707105 0 0.707108 0 " rgba="0 1 0 0" size="0.005 .1" type="cylinder" />
<camera fovy="75" mode="fixed" name="eye_in_hand" pos="0.05 0 0" quat="0 0.707108 0.707108 0" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<sensor /><tendon /><equality /><contact /><default /></mujoco>
| 99.639535 | 207 | 0.550123 |
b7bb4e8625729ecb26fa530defa4bff6e1f7cebe
| 1,768 |
xml
|
XML
|
gym/envs/robotics/assets/fetch/random_obj_xml/2779_grasp.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/2779_grasp.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/2779_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">
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</asset>
<worldbody>
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<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">
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<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 | 0.670814 |
b7bb7f577b3ddcfe231e75ccc2f9d9a15f573147
| 1,771 |
xml
|
XML
|
gym/envs/robotics/assets/fetch/random_obj_xml/4764_grasp.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/4764_grasp.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/4764_grasp.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
<mujoco>
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| 43.195122 | 201 | 0.670807 |
b7bcc7db21e0aa44e4b51e45fc8a84a49c2ea3fb
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xml
|
XML
|
gym/envs/robotics/assets/fetch/random_obj_xml/4946_peg.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/4946_peg.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/4946_peg.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
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Jianshu-Hu/pddm
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<!-- ======================================================
# Copyright 2019 Google LLC
#
# 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.
====================================================== -->
<mujoco>
<include file="../../../env_models/shadowhand/resources/assets.xml"/>
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XML
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metagym/metalocomotion/envs/assets/ants/ant_var_tra_103.xml
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WorldEditors/RLSchool
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b7c6d8728fdcfad39240e6df336f54205095b4cf
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xml
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XML
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gym/envs/robotics/assets/fetch/random_obj_xml/2268_slide.xml
|
Jekyll1021/gym
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1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/2268_slide.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/2268_slide.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
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b7c74a5531ea7328d598f591ee3716e52185e0a0
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xml
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XML
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robosuite/scripts/~/Robotics/1579650738_6143198/ep_1579651021_5253263/model.xml
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clj003/mod_surreal2
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1c91ed1d85acdb8b82dae46c49153d547301d2d9
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[
"MIT"
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robosuite/scripts/~/Robotics/1579650738_6143198/ep_1579651021_5253263/model.xml
|
clj003/mod_surreal2
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1c91ed1d85acdb8b82dae46c49153d547301d2d9
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[
"MIT"
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robosuite/scripts/~/Robotics/1579650738_6143198/ep_1579651021_5253263/model.xml
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clj003/mod_surreal2
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1c91ed1d85acdb8b82dae46c49153d547301d2d9
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[
"MIT"
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<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">
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<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" />
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<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" />
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</body>
<body name="r_gripper_r_finger" pos="0 -0.01 0.02">
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<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="0.5323365782208845 -0.010485864933977851 0.8209430396891229" quat="0.8775825618903728 0 0 0.479425538604203"><geom density="200" friction="1.5 0.005 0.0001" group="1" name="cube" pos="0 0 0" rgba="1 0 0 1" size="0.020925591442186087 0.02182109196016364 0.020943039689122846" 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>
| 84.410628 | 451 | 0.587306 |
b7c7c88a574584e2e40e03208bc4f3a3372eae00
| 2,720 |
xml
|
XML
|
gym/envs/robotics/assets/fetch/random_obj_xml/4144_peg.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/4144_peg.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/4144_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" />
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<worldbody>
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</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="0.013369954011241698 0.04 0.010051935753697954" 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="-0.0016090383736791487 0.002717933061105337 0.03649539158805249" size="0.012856421385217823 0.013257396832482591 0.04637138045988392" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="-0.0014838907046925687 0.002645890037090129 0.00017594688186653063" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.0016090383736791487 0.002717933061105337 0.02649539158805249" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
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<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 | 222 | 0.657721 |
b7c8a6565a31d615556dd85165f07e2ca9a70599
| 3,084 |
xml
|
XML
|
project/experiments/exp_800_mile_stone/input_data/bodies/405.xml
|
liusida/thesis-bodies
|
dceb8a36efd2cefc611f6749a52b56b9d3572f7a
|
[
"MIT"
] | null | null | null |
project/experiments/exp_800_mile_stone/input_data/bodies/405.xml
|
liusida/thesis-bodies
|
dceb8a36efd2cefc611f6749a52b56b9d3572f7a
|
[
"MIT"
] | null | null | null |
project/experiments/exp_800_mile_stone/input_data/bodies/405.xml
|
liusida/thesis-bodies
|
dceb8a36efd2cefc611f6749a52b56b9d3572f7a
|
[
"MIT"
] | null | null | null |
<!-- converted to geom fromto version -->
<mujoco model="cheetah">
<compiler angle="degree" coordinate="global" inertiafromgeom="true"/>
<default>
<joint armature=".1" damping=".01" limited="true" solimplimit="0 .8 .03" solreflimit=".02 1" stiffness="8"/>
<geom conaffinity="0" condim="3" contype="1" friction="0.8 .1 .1" rgba="0.8 0.6 .4 1" solimp="0.0 0.8 0.01" solref="0.02 1"/>
<motor ctrllimited="true" ctrlrange="-1 1"/>
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<size nstack="300000" nuser_geom="1"/>
<option gravity="0 0 -9.81" timestep="0.01"/>
<worldbody>
<body name="torso" pos="0 0 0.79">
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<joint armature="0" axis="0 0 1" damping="0" limited="false" name="ignorez" pos="0 0 0" stiffness="0" type="slide"/>
<joint armature="0" axis="0 1 0" damping="0" limited="false" name="ignorey" pos="0 0 0" stiffness="0" type="hinge"/>
<geom fromto="-0.55 0 0 0.49 0 0" name="torso" size="0.04" type="capsule"/>
<geom fromto="0.49 0 0 0.75 0 0.22" name="head" size="0.05" type="capsule"/>
<body name="bthigh" pos="-0.55 0 0">
<joint axis="0 1 0" damping="6" name="bthigh" pos="0 0 0" range="-30 60" stiffness="240" type="hinge"/>
<geom fromto="0 0 0 0.16 0 -0.25" size="0.04" type="capsule"/>
<body name="bshin" pos="0.16 0 -0.25">
<joint axis="0 1 0" damping="4.5" name="bshin" pos="0 0 0" range="-45 45" stiffness="180" type="hinge"/>
<geom fromto="0 0 0 -0.3 0 -0.15" size="0.04" type="capsule"/>
<body name="bfoot" pos="-0.3 0 -0.15">
<joint axis="0 1 0" damping="3" name="bfoot" pos="0 0 0" range="23 45" stiffness="120" type="hinge"/>
<geom fromto="0 0 0 0.05 0 -0.23" size="0.04" type="capsule"/>
</body>
</body>
</body>
<body name="fthigh" pos="0.49 0 0">
<joint axis="0 1 0" damping="4.5" name="fthigh" pos="0 0 0" range="-86 45" stiffness="180" type="hinge"/>
<geom fromto="0 0 0 -0.14 0 -0.23" name="fthigh" size="0.05" type="capsule"/>
<body name="fshin" pos="-0.14 0 -0.23">
<joint axis="0 1 0" damping="3" name="fshin" pos="0 0 0" range="-69 63" stiffness="120" type="hinge"/>
<geom fromto="0 0 0 0.13 0 -0.22" name="fshin" rgba="0.9 0.6 0.6 1" size="0.03" type="capsule"/>
<body name="ffoot" pos="0.13 0 -0.22">
<joint axis="0 1 0" damping="1.5" name="ffoot" pos="0 0 0" range="-177 -17" stiffness="60" type="hinge"/>
<geom fromto="0 0 0 0.12 0 -0.18" name="ffoot" rgba="0.9 0.6 0.6 1" size="0.05" type="capsule"/>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor gear="120" joint="bthigh" name="bthigh"/>
<motor gear="90" joint="bshin" name="bshin"/>
<motor gear="60" joint="bfoot" name="bfoot"/>
<motor gear="120" joint="fthigh" name="fthigh"/>
<motor gear="60" joint="fshin" name="fshin"/>
<motor gear="30" joint="ffoot" name="ffoot"/>
</actuator>
</mujoco>
| 57.111111 | 129 | 0.570039 |
b7c910877aaf8702fc7b900734cfecbc7c7e9286
| 1,769 |
xml
|
XML
|
gym/envs/robotics/assets/fetch/random_obj_xml/2309_grasp.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/2309_grasp.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/2309_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>
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<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="0.03624437926627942 0.12344105388456769 0.015693043133005978">
<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="-0.0016628305631336267 -0.0016422316130834933 0.00030654778187801714" rgba="1 0 0 0" size="0.01812218963313971 0.061720526942283846 0.007846521566502989" 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 | 202 | 0.670435 |
b7c94c19a5eceff0c769e4bc525532ac6f7931f0
| 11,362 |
xml
|
XML
|
vendor/mujoco_models/arm3d_key_tight.xml
|
coco-robotics/rllab-curriculum
|
f55b50224fcf5a9a5c064542eb0850a966cab223
|
[
"MIT"
] | 115 |
2017-12-06T16:31:10.000Z
|
2022-03-01T13:13:55.000Z
|
vendor/mujoco_models/arm3d_key_tight.xml
|
coco-robotics/rllab-curriculum
|
f55b50224fcf5a9a5c064542eb0850a966cab223
|
[
"MIT"
] | 21 |
2017-11-15T18:28:16.000Z
|
2021-04-22T15:26:45.000Z
|
vendor/mujoco_models/arm3d_key_tight.xml
|
coco-robotics/rllab-curriculum
|
f55b50224fcf5a9a5c064542eb0850a966cab223
|
[
"MIT"
] | 46 |
2017-12-22T22:26:01.000Z
|
2022-02-17T06:34:15.000Z
|
<mujoco model="arm3d">
<compiler inertiafromgeom="true" angle="radian" coordinate="local" />
<option timestep="0.01" gravity="0 0 0" iterations="20" integrator="Euler" />
<default>
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<geom friction=".5 .1 .1" margin="0.002" condim="1" contype="0" conaffinity="0" />
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<visual>
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<headlight ambient="0.8 0.8 0.8" />
</visual>
<asset>
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<worldbody>
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<geom name="e1" type="sphere" rgba="0.6 0.6 0.6 1" pos="-0.06 0.05 0.2" size="0.05" />
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<geom name="sp" type="capsule" fromto="0 0 -0.4 0 0 0.2" size="0.1" contype="1" conaffinity="1" rgba="0.25 0.25 0.25 1"/>
<joint name="r_shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-2.2854 1.714602" damping="10.0" />
<body name="r_shoulder_lift_link" pos="0.1 0 0">
<geom name="sl" type="capsule" fromto="0 -0.1 0 0 0.1 0" size="0.1" contype="1" conaffinity="1" rgba="0.25 0.25 0.25 1"/>
<joint name="r_shoulder_lift_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.5236 1.3963" damping="10.0" />
<body name="r_upper_arm_roll_link" pos="0 0 0">
<geom name="uar" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" rgba="0.25 0.25 0.25 1" />
<joint name="r_upper_arm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="-3.9 0.8" damping="0.1" />
<body name="r_upper_arm_link" pos="0 0 0">
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<joint name="r_elbow_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-2.3213 0" damping="1.0" />
<body name="r_forearm_roll_link" pos="0 0 0">
<geom name="fr" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" rgba="0.25 0.25 0.25 1"/>
<joint name="r_forearm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="-3.15 3.15" damping=".1" />
<body name="r_forearm_link" pos="0 0 0">
<geom name="fa" type="capsule" fromto="0 0 0 0.321 0 0" size="0.05" contype="1" conaffinity="1" rgba="0.25 0.25 0.25 1"/>
<body name="r_wrist_flex_link" pos="0.321 0 0">
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| 61.086022 | 222 | 0.456346 |
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xml
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XML
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gym/envs/robotics/assets/fetch/random_obj_xml/2789_peg.xml
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Jekyll1021/gym
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1701741df2e6ae9a762fe647122ee8344f586bc9
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[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/2789_peg.xml
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Jekyll1021/gym
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1701741df2e6ae9a762fe647122ee8344f586bc9
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[
"Python-2.0",
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] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/2789_peg.xml
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Jekyll1021/gym
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1701741df2e6ae9a762fe647122ee8344f586bc9
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[
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] | null | null | null |
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| 50.444444 | 224 | 0.656388 |
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XML
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multiworld/envs/assets/classic_mujoco/half_cheetah_obstacles/half_cheetah_obstacle_position=3.0_height=0.4.xml
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szk9876/multiworld
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c90149d2913280298d5c54236ac40b793b0c2632
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[
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multiworld/envs/assets/classic_mujoco/half_cheetah_obstacles/half_cheetah_obstacle_position=3.0_height=0.4.xml
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szk9876/multiworld
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c90149d2913280298d5c54236ac40b793b0c2632
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[
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multiworld/envs/assets/classic_mujoco/half_cheetah_obstacles/half_cheetah_obstacle_position=3.0_height=0.4.xml
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szk9876/multiworld
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c90149d2913280298d5c54236ac40b793b0c2632
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[
"MIT"
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xml
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XML
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gym/envs/robotics/assets/fetch/random_obj_xml/932_peg.xml
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Jekyll1021/gym
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1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/932_peg.xml
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Jekyll1021/gym
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1701741df2e6ae9a762fe647122ee8344f586bc9
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[
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gym/envs/robotics/assets/fetch/random_obj_xml/932_peg.xml
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Jekyll1021/gym
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1701741df2e6ae9a762fe647122ee8344f586bc9
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[
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| 50.185185 | 221 | 0.656458 |
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xml
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XML
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gym/envs/robotics/assets/fetch/random_obj_xml/4240_slide.xml
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Jekyll1021/gym
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1701741df2e6ae9a762fe647122ee8344f586bc9
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[
"Python-2.0",
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gym/envs/robotics/assets/fetch/random_obj_xml/4240_slide.xml
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Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/4240_slide.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
<mujoco>
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<option timestep="0.002">
<flag warmstart="enable" />
</option>
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<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="0.02507721487527212 0.030909993458393754 0.21437071017506287">
<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" />
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</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" />
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| 38.315789 | 155 | 0.618819 |
b7d0c2a612661240504e0b6278a253f3490c11dc
| 6,947 |
xml
|
XML
|
envs/assets/pusher_3dof.xml
|
mirraaj/PlaNet
|
1c0c3ac857e08f3ea2c8753f40ccfaad39259ea2
|
[
"MIT"
] | null | null | null |
envs/assets/pusher_3dof.xml
|
mirraaj/PlaNet
|
1c0c3ac857e08f3ea2c8753f40ccfaad39259ea2
|
[
"MIT"
] | null | null | null |
envs/assets/pusher_3dof.xml
|
mirraaj/PlaNet
|
1c0c3ac857e08f3ea2c8753f40ccfaad39259ea2
|
[
"MIT"
] | null | null | null |
<mujoco model="arm3d">
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<custom>
<numeric name="frame_skip" data="5"/>
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<option timestep="0.01" gravity="0 0 0" iterations="20" integrator="Euler"/>
<default>
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conaffinity="1"/>
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conaffinity="1"/>
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conaffinity="1"/>
<body name="distal_4" pos="0.4 0 0">
<body name="tips_arm" pos="0 0 0">
<geom name="tip_arml" type="sphere" pos="0.1 -0.2 0" size="0.01"/>
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<geom rgba="0. 1. 0. 1" type="capsule" fromto="0 0.2 0 0.2 0.2 0" size="0.04" contype="1"
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<joint name="obj_slidey" type="slide" pos="0.0025 0.0025 0.0025" axis="0 1 0" range="-10.3213 10.3"
damping="0.01" frictionloss="0.01"/>
</body>
<body name="object_box_1" pos="-0.8 -0.0 -0.1">
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<geom rgba="1. 1. 1. 1" type="box" size="0.1 0.1 0.15" density='1000' contype="1" conaffinity="1"/>
</body>
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<geom rgba="1. 1. 1. 1" type="box" size="0.1 0.065 0.1" density='1000' contype="1" conaffinity="1"/>
</body>
<body name="object_box_3" pos="0 0.85 -0.1">
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<geom rgba="1. 1. 1. 1" type="box" size="0.1 0.15 0.15" density='1000' contype="1" conaffinity="1"/>
</body>
<body name="object_box_4" pos="+0.0 -0.9 -0.1">
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<geom rgba="1. 1. 1. 1" type="box" size="0.15 0.15 0.2" density='1000' contype="1" conaffinity="1"/>
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<body name="object_box_5" pos="+0.5 +0.8 -0.1">
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<geom rgba="1. 1. 1. 1" type="box" size="0.1 0.13 0.13" density='1000' contype="1" conaffinity="1"/>
</body>
<body name="object_box_6" pos="-0.6 -0.6 -0.1">
<inertial pos="0 0 0" mass="1000000" diaginertia="1666.667 1666.667 1666.667"/>
<geom rgba="1. 1. 1. 1" type="box" size="0.15 0.12 0.12" density='1000' contype="1" conaffinity="1"/>
</body>
<body name="object_box_7" pos="+0.8 -0.6 -0.1">
<inertial pos="0 0 0" mass="1000000" diaginertia="1666.667 1666.667 1666.667"/>
<geom rgba="1. 1. 1. 1" type="box" size="0.14 0.06 0.2" density='1000' contype="1" conaffinity="1"/>
</body>
<body name="object_box_8" pos="-0.8 +0.6 -0.1">
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<geom rgba="1. 1. 1. 1" type="box" size="0.05 0.15 0.15" density='1000' contype="1" conaffinity="1"/>
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<body name="goal" pos="-0.2 -.1 -0.145">
<geom rgba="1. 0. 0. 1" type="cylinder" size="0.17 0.005 0.2" density='0.00001' contype="0"
conaffinity="0"/>
<joint name="goal_slidex" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0.5"/>
<joint name="goal_slidey" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0.5"/>
</body>
</worldbody>
<actuator>
<motor joint="proximal_j_1" ctrlrange="-3 3" ctrllimited="true"/>
<motor joint="distal_j_1" ctrlrange="-3 3" ctrllimited="true"/>
<motor joint="distal_j_2" ctrlrange="-3 3" ctrllimited="true"/>
<motor joint="distal_j_3" ctrlrange="-3 3" ctrllimited="true"/>
</actuator>
</mujoco>
| 59.376068 | 123 | 0.493306 |
b7d4d6b59ff6591074479e5507d57c393a932ccd
| 1,764 |
xml
|
XML
|
gym/envs/robotics/assets/fetch/random_obj_xml/1711_grasp.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/1711_grasp.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/1711_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>
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<worldbody>
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<body name="floor0" pos="0.8 0.75 0">
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<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.2">
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</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco>
| 43.02439 | 197 | 0.668934 |
b7d6a0c81910b73acb38f8f78e642a9aafd8cf59
| 1,451 |
xml
|
XML
|
gym/envs/robotics/assets/fetch/random_obj_xml/2170_slide.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/2170_slide.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/2170_slide.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
<mujoco>
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<body name="floor0" pos="0.8 0.75 0">
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<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
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<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
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</mujoco>
| 38.184211 | 155 | 0.617505 |
b7d82c2bc8fa85165429377618df18713b731c32
| 2,724 |
xml
|
XML
|
gym/envs/robotics/assets/fetch/random_obj_xml/6513_peg.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/6513_peg.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/6513_peg.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
<mujoco>
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| 50.444444 | 219 | 0.659325 |
b7d860da0a4214a5a7c758cdff003e4f8660cab6
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xml
|
XML
|
gym/envs/robotics/assets/fetch/random_obj_xml/1113_slide.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/1113_slide.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/1113_slide.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
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xml
|
XML
|
gym/envs/robotics/assets/fetch/random_obj_xml/6392_peg.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/6392_peg.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/6392_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/639/639.stl" name="obj0" scale="0.005331914333198792 0.005331914333198792 0.005331914333198792" />
</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="0.021423285216361086 0.04 0.02883839980719798" 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="-0.002342183613934103 -0.0030349870437132507 0.02705407434379219" size="0.02806775790034801 0.028439262612149532 0.04749498606181292" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="-0.0021126447843517688 -0.0026525887728845606 0.0009823734983403598" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.002342183613934103 -0.0030349870437132507 0.017054074343792188" 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 | 0.65687 |
b7dd0923be6d8158a1adf380fdb0ccdefb13027c
| 4,813 |
xml
|
XML
|
models/nmi_leg_w_chassis_v4.xml
|
marjanin/G2P_with_fb
|
683aa5af45f37a7ac8537ce097ccc91c422c80ba
|
[
"MIT"
] | null | null | null |
models/nmi_leg_w_chassis_v4.xml
|
marjanin/G2P_with_fb
|
683aa5af45f37a7ac8537ce097ccc91c422c80ba
|
[
"MIT"
] | null | null | null |
models/nmi_leg_w_chassis_v4.xml
|
marjanin/G2P_with_fb
|
683aa5af45f37a7ac8537ce097ccc91c422c80ba
|
[
"MIT"
] | null | null | null |
<mujoco model="2-link 6-muscle arm">
<!-- Vers
Ver 0 fixed on air
Ver 1 can move on x axis
Ver 2 can move on x axis and y axis (y with a spring damper)
Ver 3 way havier; can move on x axis and y axis (both freely)
Ver 4 similar to 1 but with higher friction
-->
<option timestep="0.005" iterations="50" solver="Newton" tolerance="1e-10"/>
<size njmax="50" nconmax="10" nstack="200"/>
<visual>
<rgba haze=".3 .3 .3 1"/>
</visual>
<default>
<joint type="hinge" pos="0 0 0" axis="0 1 0" limited="true" damping="1" frictionloss="3" />
<tendon stiffness = "0"/>
<muscle ctrllimited="true" ctrlrange="0 1" force="6000" />
</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>
<geom name="floor" pos="0 0 -0.5" size="0 0 1" type="plane" material="matplane"/>
<light directional="true" diffuse=".8 .8 .8" specular=".2 .2 .2" pos="0 0 5" dir="0 1 -5"/>
<body name="Chassis" pos="0 0 -.05">
<camera name="Chassis_camera" pos="0 -6 3" zaxis="0 -2 1"/>
<geom name="Chassis_frame" type="box" pos="0 0 1.7" zaxis="0 1 0" size=".50 .30 .25" rgba=".25 .25 .25 0.25" mass=".1"/>
<joint armature="0" axis="1 0 0" damping="0" frictionloss="100" limited="false" name="rootx" pos="0 0 0" stiffness="0" type="slide"/>
<!--<joint armature="0" axis="0 0 1" damping="0" frictionloss="3" limited="false" name="rootz" pos="0 0 0" stiffness="0" springdamper=".01 10" type="slide"/>--> <!-- to enable z axis slide with a spring damper-->
<site name="S_M0" pos="0.40 0 1.8" size="0.02"/>
<site name="S_M2" pos="0.40 0 1.5" size="0.02"/>
<site name="S_M1" pos="-0.40 0 1.5" size="0.02"/>
<body pos="0 0 .5">
<joint name="Hip" range="-60 60"/>
<geom name="Hip" type="cylinder" pos="0 0 0" zaxis="0 1 0" size=".1 .05" rgba="1 1 1 .5" mass="0.3"/>
<geom name="L0" type="capsule" size="0.045" fromto="0 0 0 0 0 -.50" rgba=".7 .7 .7 1"/>
<site name="S_J0_0" pos="-0.15 0 0" size="0.02" rgba="0.7 0.8 0.95 .1" group="1"/>
<site name="S_J0_1" pos="0.15 0 0" size="0.02" rgba="0.7 0.8 0.95 .1" group="1"/>
<site name="S_L0_1" pos="0.05 0 -.1" size="0.02"/>
<site name="S_L0_0" pos="-0.05 0 -.1" size="0.02"/>
<site name="S_L0_2" pos="-0.1 0 -.25" size="0.02"/>
<site name="S_L0_3" pos=" 0.00 0 -.25" size="0.02"/>
<site name="S_L_04" pos="+0.1 0 -.25" size="0.02"/>
<body pos="0 0 -.5">
<joint name="Knee" range="-90 0" ref="-45"/>
<geom name="Knee" type="cylinder" pos="0 0 0" zaxis="0 1 0" size=".1 .05" rgba="1 1 1 .5" mass="0.3"/>
<geom name="L1" type="capsule" size="0.045" fromto="0 0 0 0.34 0 -0.34" rgba=".7 .7 .7 1"/>
<site name="S_J1_0" pos="-0.15 0 0" size="0.02" rgba="0.7 0.8 0.95 .1" group="1"/>
<site name="S_J1_1" pos="0.15 0 0" size="0.02" rgba="0.7 0.8 0.95 .1" group="1"/>
<site name="S_L1_0" pos="-0.05 0 -.1" size="0.02"/>
<site name="S_L1_1" pos="0.05 0 -.1" size="0.02"/>
</body>
</body>
</body>>
</worldbody>
<tendon>
<spatial name="T_M0" width="0.01" rgba="0.55 0.78 0.55 1">
<site site="S_M0"/>
<geom geom="Hip" sidesite="S_J0_0"/>
<site site="S_L0_3"/>
<geom geom="Knee" sidesite="S_J1_1"/>
<site site="S_L1_1"/>
</spatial>
<spatial name="T_M1" width="0.01" rgba="0.95 0.50 0.47 1">
<site site="S_M1"/>
<geom geom="Hip" sidesite="S_J0_1"/>
<site site="S_L0_1"/>
</spatial>
<spatial name="T_M2" width="0.01" rgba="0.45 0.49 0.83 1">
<site site="S_M2"/>
<geom geom="Hip" sidesite="S_J0_0"/>
<site site="S_L0_2"/>
<geom geom="Knee" sidesite="S_J1_0"/>
<site site="S_L1_0"/>
</spatial>
</tendon>
<actuator>
<muscle name="T_M0" tendon="T_M0"/>
<muscle name="T_M1" tendon="T_M1"/>
<muscle name="T_M2" tendon="T_M2"/>
</actuator>
</mujoco>
| 44.155963 | 224 | 0.497403 |
b7dd6c36433c28687f27992e3e7bb385a3738ecd
| 2,716 |
xml
|
XML
|
gym/envs/robotics/assets/fetch/random_obj_xml/9708_peg.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/9708_peg.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/9708_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/970/970.stl" name="obj0" scale="0.005885122843479493 0.005885122843479493 0.005885122843479493" />
</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="0.037473763938453676 0.04 0.022341965508913424" 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="0.014456403180231182 -0.0055651053380350885 0.02821506695373551" size="0.0218829643621433 0.014810272155334717 0.05026963792283137" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="0.005561230416516192 -0.005611015465666671 0.0002873945398175596" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.014456403180231182 -0.0055651053380350885 0.01821506695373551" 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 |
b7df87c2c5fafc86cf9a37e443519552a90597f5
| 9,594 |
xml
|
XML
|
gym/gym/envs/robotics/assets/fetch/robot.xml
|
malikasng/Bbox_HGG_with_CTR_and_RRTstarFND
|
2b1aae6c347f544fefface0c9f26dc4ecde51108
|
[
"MIT"
] | 1 |
2020-09-16T06:15:17.000Z
|
2020-09-16T06:15:17.000Z
|
gym/gym/envs/robotics/assets/fetch/robot.xml
|
malikasng/Bbox_HGG_with_CTR_and_RRTstarFND
|
2b1aae6c347f544fefface0c9f26dc4ecde51108
|
[
"MIT"
] | 5 |
2020-09-26T01:30:01.000Z
|
2022-01-13T03:15:42.000Z
|
gym/gym/envs/robotics/assets/fetch/robot.xml
|
malikasng/Bbox_HGG_with_CTR_and_RRTstarFND
|
2b1aae6c347f544fefface0c9f26dc4ecde51108
|
[
"MIT"
] | null | null | null |
<mujoco>
<body mocap="true" name="robot0:mocap" pos="0 0 0">
<geom conaffinity="0" contype="0" pos="0 0 0" rgba="0 0.5 0 0" size="0.005 0.005 0.005" type="box"></geom> <!-- 0.7 / 0.1-->
<geom conaffinity="0" contype="0" pos="0 0 0" rgba="0 0.5 0 0" size="1 0.005 0.005" type="box"></geom>
<geom conaffinity="0" contype="0" pos="0 0 0" rgba="0 0.5 0 0" size="0.005 1 0.001" type="box"></geom>
<geom conaffinity="0" contype="0" pos="0 0 0" rgba="0 0.5 0 0" size="0.005 0.005 1" type="box"></geom>
</body>
<body childclass="robot0:fetch" name="robot0:base_link" pos="0.2869 0.2641 0">
<joint armature="0.0001" axis="1 0 0" damping="1e+11" name="robot0:slide0" pos="0 0 0" type="slide"></joint>
<joint armature="0.0001" axis="0 1 0" damping="1e+11" name="robot0:slide1" pos="0 0 0" type="slide"></joint>
<joint armature="0.0001" axis="0 0 1" damping="1e+11" name="robot0:slide2" pos="0 0 0" type="slide"></joint>
<inertial diaginertia="1.2869 1.2236 0.9868" mass="70.1294" pos="-0.0036 0 0.0014" quat="0.7605 -0.0133 -0.0061 0.6491"></inertial>
<geom mesh="robot0:base_link" name="robot0:base_link" material="robot0:base_mat" class="robot0:grey"></geom>
<body name="robot0:torso_lift_link" pos="-0.0869 0 0.3774">
<inertial diaginertia="0.3365 0.3354 0.0943" mass="10.7796" pos="-0.0013 -0.0009 0.2935" quat="0.9993 -0.0006 0.0336 0.0185"></inertial>
<joint axis="0 0 1" damping="1e+07" name="robot0:torso_lift_joint" range="0.0386 0.3861" type="slide"></joint>
<geom mesh="robot0:torso_lift_link" name="robot0:torso_lift_link" material="robot0:torso_mat"></geom>
<body name="robot0:head_pan_link" pos="0.0531 0 0.603">
<inertial diaginertia="0.0185 0.0128 0.0095" mass="2.2556" pos="0.0321 0.0161 0.039" quat="0.5148 0.5451 -0.453 0.4823"></inertial>
<joint axis="0 0 1" name="robot0:head_pan_joint" range="-1.57 1.57"></joint>
<geom mesh="robot0:head_pan_link" name="robot0:head_pan_link" material="robot0:head_mat" class="robot0:grey"></geom>
<body name="robot0:head_tilt_link" pos="0.1425 0 0.058">
<inertial diaginertia="0.0063 0.0059 0.0014" mass="0.9087" pos="0.0081 0.0025 0.0113" quat="0.6458 0.66 -0.274 0.2689"></inertial>
<joint axis="0 1 0" damping="1000" name="robot0:head_tilt_joint" range="-0.76 1.45" ref="0.06"></joint>
<geom mesh="robot0:head_tilt_link" name="robot0:head_tilt_link" material="robot0:head_mat" class="robot0:blue"></geom>
<body name="robot0:head_camera_link" pos="0.055 0 0.0225">
<inertial diaginertia="0 0 0" mass="0" pos="0.055 0 0.0225"></inertial>
<body name="robot0:head_camera_rgb_frame" pos="0 0.02 0">
<inertial diaginertia="0 0 0" mass="0" pos="0 0.02 0"></inertial>
<body name="robot0:head_camera_rgb_optical_frame" pos="0 0 0" quat="0.5 -0.5 0.5 -0.5">
<inertial diaginertia="0 0 0" mass="0" pos="0 0 0" quat="0.5 -0.5 0.5 -0.5"></inertial>
<camera euler="3.1415 0 0" fovy="50" name="head_camera_rgb" pos="0 0 0"></camera>
</body>
</body>
<body name="robot0:head_camera_depth_frame" pos="0 0.045 0">
<inertial diaginertia="0 0 0" mass="0" pos="0 0.045 0"></inertial>
<body name="robot0:head_camera_depth_optical_frame" pos="0 0 0" quat="0.5 -0.5 0.5 -0.5">
<inertial diaginertia="0 0 0" mass="0" pos="0 0 0" quat="0.5 -0.5 0.5 -0.5"></inertial>
</body>
</body>
</body>
</body>
</body>
<body name="robot0:shoulder_pan_link" pos="0.1195 0 0.3486">
<inertial diaginertia="0.009 0.0086 0.0041" mass="2.5587" pos="0.0927 -0.0056 0.0564" quat="-0.1364 0.7624 -0.1562 0.613"></inertial>
<joint axis="0 0 1" name="robot0:shoulder_pan_joint" range="-1.6056 1.6056"></joint>
<geom mesh="robot0:shoulder_pan_link" name="robot0:shoulder_pan_link" material="robot0:arm_mat"></geom>
<body name="robot0:shoulder_lift_link" pos="0.117 0 0.06">
<inertial diaginertia="0.0116 0.0112 0.0023" mass="2.6615" pos="0.1432 0.0072 -0.0001" quat="0.4382 0.4382 0.555 0.555"></inertial>
<joint axis="0 1 0" name="robot0:shoulder_lift_joint" range="-1.221 1.518"></joint>
<geom mesh="robot0:shoulder_lift_link" name="robot0:shoulder_lift_link" material="robot0:arm_mat" class="robot0:blue"></geom>
<body name="robot0:upperarm_roll_link" pos="0.219 0 0">
<inertial diaginertia="0.0047 0.0045 0.0019" mass="2.3311" pos="0.1165 0.0014 0" quat="-0.0136 0.707 0.0136 0.707"></inertial>
<joint axis="1 0 0" limited="false" name="robot0:upperarm_roll_joint"></joint>
<geom mesh="robot0:upperarm_roll_link" name="robot0:upperarm_roll_link" material="robot0:arm_mat"></geom>
<body name="robot0:elbow_flex_link" pos="0.133 0 0">
<inertial diaginertia="0.0086 0.0084 0.002" mass="2.1299" pos="0.1279 0.0073 0" quat="0.4332 0.4332 0.5589 0.5589"></inertial>
<joint axis="0 1 0" name="robot0:elbow_flex_joint" range="-2.251 2.251"></joint>
<geom mesh="robot0:elbow_flex_link" name="robot0:elbow_flex_link" material="robot0:arm_mat" class="robot0:blue"></geom>
<body name="robot0:forearm_roll_link" pos="0.197 0 0">
<inertial diaginertia="0.0035 0.0031 0.0015" mass="1.6563" pos="0.1097 -0.0266 0" quat="-0.0715 0.7035 0.0715 0.7035"></inertial>
<joint armature="2.7538" axis="1 0 0" damping="3.5247" frictionloss="0" limited="false" name="robot0:forearm_roll_joint" stiffness="10"></joint>
<geom mesh="robot0:forearm_roll_link" name="robot0:forearm_roll_link" material="robot0:arm_mat"></geom>
<body name="robot0:wrist_flex_link" pos="0.1245 0 0">
<inertial diaginertia="0.0042 0.0042 0.0018" mass="1.725" pos="0.0882 0.0009 -0.0001" quat="0.4895 0.4895 0.5103 0.5103"></inertial>
<joint axis="0 1 0" name="robot0:wrist_flex_joint" range="-2.16 2.16"></joint>
<geom mesh="robot0:wrist_flex_link" name="robot0:wrist_flex_link" material="robot0:arm_mat" class="robot0:blue"></geom>
<body name="robot0:wrist_roll_link" pos="0.1385 0 0">
<inertial diaginertia="0.0001 0.0001 0.0001" mass="0.1354" pos="0.0095 0.0004 -0.0002"></inertial>
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<body name="robot0:gripper_camera_rgb_frame" pos="0 0.02 0">
<body name="robot0:gripper_camera_rgb_optical_frame" pos="0 0 0" quat="0.5 -0.5 0.5 -0.5">
<camera euler="3.1415 0 0" fovy="50" name="gripper_camera_rgb" pos="0 0 0"></camera>
</body>
</body>
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<body name="robot0:gripper_camera_depth_optical_frame" pos="0 0 0" quat="0.5 -0.5 0.5 -0.5"></body>
</body>
</body>
<body childclass="robot0:fetchGripper" name="robot0:r_gripper_finger_link" pos="0 0.0159 0">
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<joint axis="0 1 0" name="robot0:r_gripper_finger_joint" range="0 0.05"></joint>
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</body>
<body childclass="robot0:fetchGripper" name="robot0:l_gripper_finger_link" pos="0 -0.0159 0">
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<site name="robot0:grip" pos="0.02 0 0" rgba="0 0 0 0" size="0.02 0.02 0.02"></site>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
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</body>
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</body>
<body name="robot0:torso_fixed_link" pos="-0.0869 0 0.3774">
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<geom mesh="robot0:torso_fixed_link" name="robot0:torso_fixed_link" class="robot0:blue"></geom>
</body>
<body name="robot0:external_camera_body_0" pos="0 0 0">
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</body>
</body>
</mujoco>
| 77.370968 | 187 | 0.644674 |
b7e073d5766d1f6585c255a9f70d84b1c0927ade
| 1,455 |
xml
|
XML
|
gym/envs/robotics/assets/fetch/random_obj_xml/6841_slide.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/6841_slide.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/6841_slide.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
<mujoco>
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| 38.289474 | 155 | 0.618557 |
b7e1342af05eed0440bcc328960e37e6c7898429
| 2,713 |
xml
|
XML
|
gym/envs/robotics/assets/fetch/random_obj_xml/3903_peg.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/3903_peg.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/3903_peg.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
<mujoco>
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</body>
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<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
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| 50.240741 | 220 | 0.656837 |
b7e3e543382ab42fbf0ea7db4fab5b1665b96337
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xml
|
XML
|
metagym/metalocomotion/envs/assets/humanoids/humanoid_var_tst_027.xml
|
WorldEditors/RLSchool
|
a368937ab23c8d56f8b46d6c2de74d607d7a12bb
|
[
"Apache-2.0"
] | null | null | null |
metagym/metalocomotion/envs/assets/humanoids/humanoid_var_tst_027.xml
|
WorldEditors/RLSchool
|
a368937ab23c8d56f8b46d6c2de74d607d7a12bb
|
[
"Apache-2.0"
] | null | null | null |
metagym/metalocomotion/envs/assets/humanoids/humanoid_var_tst_027.xml
|
WorldEditors/RLSchool
|
a368937ab23c8d56f8b46d6c2de74d607d7a12bb
|
[
"Apache-2.0"
] | null | null | null |
<mujoco model="humanoid">
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<default>
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<geom name="right_foot" pos="0 0 0.1" size="0.075" type="sphere" user="0" />
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</body>
</body>
<body name="left_thigh" pos="0.0 0.12036167773468986 -0.04">
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<geom name="left_foot" type="sphere" size="0.075" pos="0 0 0.1" user="0" />
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<body name="right_upper_arm" pos="0 -0.17 0.06">
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</body>
<body name="left_upper_arm" pos="0 0.17 0.06">
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<geom fromto="0 0 0 .16 .16 -.16" name="left_uarm1" size="0.04 0.16" type="capsule" />
<body name="left_lower_arm" pos=".18 .18 -.18">
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<joint coef="1" joint="right_knee" />
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</tendon>
<actuator>
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<motor gear="100" joint="right_hip_x" name="right_hip_x" />
<motor gear="100" joint="right_hip_z" name="right_hip_z" />
<motor gear="300" joint="right_hip_y" name="right_hip_y" />
<motor gear="200" joint="right_knee" name="right_knee" />
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<motor gear="100" joint="left_hip_z" name="left_hip_z" />
<motor gear="300" joint="left_hip_y" name="left_hip_y" />
<motor gear="200" joint="left_knee" name="left_knee" />
<motor gear="25" joint="right_shoulder1" name="right_shoulder1" />
<motor gear="25" joint="right_shoulder2" name="right_shoulder2" />
<motor gear="25" joint="right_elbow" name="right_elbow" />
<motor gear="25" joint="left_shoulder1" name="left_shoulder1" />
<motor gear="25" joint="left_shoulder2" name="left_shoulder2" />
<motor gear="25" joint="left_elbow" name="left_elbow" />
</actuator>
</mujoco>
| 72.738318 | 149 | 0.533856 |
b7e46adfee1385bd3a680b2a3b5a2cdd1950f40c
| 5,018 |
xml
|
XML
|
body_mnist/workable-bodies/envs/425.xml
|
liusida/thesis-bodies
|
dceb8a36efd2cefc611f6749a52b56b9d3572f7a
|
[
"MIT"
] | null | null | null |
body_mnist/workable-bodies/envs/425.xml
|
liusida/thesis-bodies
|
dceb8a36efd2cefc611f6749a52b56b9d3572f7a
|
[
"MIT"
] | null | null | null |
body_mnist/workable-bodies/envs/425.xml
|
liusida/thesis-bodies
|
dceb8a36efd2cefc611f6749a52b56b9d3572f7a
|
[
"MIT"
] | null | null | null |
<mujoco model="ant">
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<body name="front_left_leg" pos="0 0 0">
<geom fromto="0.0 0.0 0.0 0.21265688015307752 0.21265688015307752 0.0" name="aux_1_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
<body name="aux_1" pos="0.21265688015307752 0.21265688015307752 0">
<joint axis="0 0 1" name="hip_1" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.21265688015307752 0.21265688015307752 0.0" name="left_leg_geom" size="0.1438024033495455" type="capsule" rgba=".8 .5 .3 1"/>
<body pos="0.21265688015307752 0.21265688015307752 0" name="front_left_foot">
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<geom fromto="0.0 0.0 0.0 0.47930070706974276 0.47930070706974276 0.0" name="left_ankle_geom" size="0.11400245982596527" type="capsule" rgba=".8 .5 .3 1"/>
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| 68.739726 | 170 | 0.626146 |
b7e487ab4c478cfa0a234dd2036225dd0a577838
| 79,286 |
xml
|
XML
|
herb_reconf/cluttered_scenes/hard_pushing_vase_3_2_0.5_scene.xml
|
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
|
f55c6b0fac44d9d749e7804d99169a39d30c2111
|
[
"MIT"
] | null | null | null |
herb_reconf/cluttered_scenes/hard_pushing_vase_3_2_0.5_scene.xml
|
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
|
f55c6b0fac44d9d749e7804d99169a39d30c2111
|
[
"MIT"
] | null | null | null |
herb_reconf/cluttered_scenes/hard_pushing_vase_3_2_0.5_scene.xml
|
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
|
f55c6b0fac44d9d749e7804d99169a39d30c2111
|
[
"MIT"
] | null | null | null |
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<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
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<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
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<!--
<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/">
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<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
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<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
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<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"/>
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<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
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<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
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<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"/>
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<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
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<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"/>
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<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">
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<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"/>
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<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
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<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
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<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
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<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">
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<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"/>
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<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
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<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
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<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"/>
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<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">
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<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>
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<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
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<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"/>
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<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"/>
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<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>
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<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>
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<joint name="//unnamed_joint_3" class="/" type="free"/>
</body>
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<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> -->
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<joint name="//unnamed_joint_5" class="/" type="free"/>
</body>-->
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<joint name="//unnamed_joint_6" class="/" type="free"/>
</body>-->
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</body>-->
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<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>-->
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<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>-->
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<geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/>
</body>-->
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<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
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<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 1.9022402176087667" name="gen_body_0" pos="0 0 0.43326650857925414"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.7879519281252318 0.8115064829316995 0.807360028543202 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 4.410820344850489" name="gen_body_gadded_1" pos="0.22693432531611238 0.0 0.30027575161469394"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.5927700395475176 0.5978714944720082 0.035281338306744736 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 0.17939877863843742" name="gen_body_gadded_2" pos="0.06394796575296027 0.2299032855778709 0.29991917025731385"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.6650471398169296 0.26978931149071517 0.1804626954912395 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"/>
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<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"/>
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<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"/>
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<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>
| 115.915205 | 943 | 0.685922 |
b7e4b3d29cf6585231f2d9027461981dd227a4d5
| 2,723 |
xml
|
XML
|
gym/envs/robotics/assets/fetch/random_obj_xml/8357_peg.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/8357_peg.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/8357_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">
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</option>
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</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="0.015199971455003458 0.04 0.018738958332212067" zaxis="1.0 0.0 0.0">
<joint damping="0.01" name="object0:joint" type="free" />
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<geom condim="3" mass="2" material="block_mat" pos="-0.0021803131452536387 -0.017595242664482376 0.035530962401310914" size="0.014574716276480245 0.01559776442795742 0.05201986184588445" type="box" zaxis="1.0 0.0 0.0" />
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<site name="handle0" pos="-0.0021803131452536387 -0.017595242664482376 0.025530962401310912" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
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<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco>
| 50.425926 | 223 | 0.656996 |
b7e548341b6f559cb57e62403bbae54cc4f1a41b
| 87,221 |
xml
|
XML
|
herb_reconf/cluttered_scenes/grasping_cardboard_box_4_0.5_scene.xml
|
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
|
f55c6b0fac44d9d749e7804d99169a39d30c2111
|
[
"MIT"
] | null | null | null |
herb_reconf/cluttered_scenes/grasping_cardboard_box_4_0.5_scene.xml
|
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
|
f55c6b0fac44d9d749e7804d99169a39d30c2111
|
[
"MIT"
] | null | null | null |
herb_reconf/cluttered_scenes/grasping_cardboard_box_4_0.5_scene.xml
|
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
|
f55c6b0fac44d9d749e7804d99169a39d30c2111
|
[
"MIT"
] | null | null | null |
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<default class="herb/wam_1/bhand/viz">
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<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" /> -->
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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" 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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" 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geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="10000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="10000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="10000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="10000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
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<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"/>
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<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"/>
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<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"/>
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<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"/>
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<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"/>-->
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| 136.924647 | 10,958 | 0.686131 |
b7e711d1a56a878c895b549249cf3ba2ad5104e5
| 1,761 |
xml
|
XML
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gym/envs/robotics/assets/fetch/random_obj_xml/9668_grasp.xml
|
Jekyll1021/gym
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1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/9668_grasp.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/9668_grasp.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
<mujoco>
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| 42.95122 | 196 | 0.669506 |
b7e9ca03ff7f526f2ac6ed168385728f2416457c
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xml
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XML
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robosuite/models/assets/arenas/viz_arena.xml
|
tanmayshankar/robosuite
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9c41ff4a264b8fa474f134bf0b450c417730b6a7
|
[
"MIT"
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robosuite/models/assets/arenas/viz_arena.xml
|
tanmayshankar/robosuite
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9c41ff4a264b8fa474f134bf0b450c417730b6a7
|
[
"MIT"
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robosuite/models/assets/arenas/viz_arena.xml
|
tanmayshankar/robosuite
|
9c41ff4a264b8fa474f134bf0b450c417730b6a7
|
[
"MIT"
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<mujoco model="table_arena">
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<!-- front view -->
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| 58.517241 | 128 | 0.590454 |
b7e9d1bd247e2a7e48480c8cb08c8c97dc9cd090
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xml
|
XML
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gym/envs/robotics/assets/fetch/random_obj_xml/6761_peg.xml
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Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/6761_peg.xml
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Jekyll1021/gym
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1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/6761_peg.xml
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Jekyll1021/gym
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1701741df2e6ae9a762fe647122ee8344f586bc9
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[
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] | null | null | null |
<mujoco>
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| 50.259259 | 219 | 0.656595 |
b7eaa758d78850fd61742abc03cf274189823f2e
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xml
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XML
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herb_reconf/cluttered_scenes/grasping_cardboard_box_1_0.4_scene.xml
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wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
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f55c6b0fac44d9d749e7804d99169a39d30c2111
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[
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herb_reconf/cluttered_scenes/grasping_cardboard_box_1_0.4_scene.xml
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wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
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f55c6b0fac44d9d749e7804d99169a39d30c2111
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herb_reconf/cluttered_scenes/grasping_cardboard_box_1_0.4_scene.xml
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wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
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f55c6b0fac44d9d749e7804d99169a39d30c2111
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[
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<body euler="0 0 1.4987746629927534" name="gen_body_0" pos="0 0 0.3425949655473232"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.4112495014783 0.058409105706865416 0.6921241410822526 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 4.450477122474342" name="gen_body_gadded_1" pos="0.23712419270960336 0.0 0.30210539420461596"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.08357265996734242 0.4529503893918281 0.6608765255441112 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 4.24440597387072" name="gen_body_gadded_2" pos="-0.2853725830327869 -0.2540846501777253 0.3008585382970778"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.2314909545395688 0.962951828568117 0.6584433715062015 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 2.679462203730053" name="gen_body_gadded_3" pos="0.052520050387526655 0.32050641183505413 0.30001733638996064"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.13098207313168053 0.358760115972641 0.7473667486145574 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 6.234647610481682" name="gen_body_gadded_4" pos="0.5014610741585858 0.018540745617069712 0.29984030147243146"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.5507020382303589 0.599807724782377 0.46513419552949353 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>
| 121.309262 | 1,607 | 0.684693 |
b7eb1ab0d0034a2f93e30aee54a26eca6fe48bbb
| 1,456 |
xml
|
XML
|
gym/envs/robotics/assets/fetch/random_obj_xml/2868_slide.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/2868_slide.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/2868_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/286/286.stl" name="obj0" scale="0.003597505399622633 0.003597505399622633 0.003597505399622633" />
</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="0.023054312961780773 0.026538883673145757 0.2192648033027222">
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</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 |
b7ec0d608b6368c0336a573d0ed5c0a14031222d
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xml
|
XML
|
model/banana_ant.xml
|
ugo-nama-kun/mujoco_marker_example
|
6386cb8d847819900377e99caf6cdcafc08063b0
|
[
"MIT"
] | 1 |
2021-12-22T02:12:25.000Z
|
2021-12-22T02:12:25.000Z
|
model/banana_ant.xml
|
ugo-nama-kun/mujoco_marker_example
|
6386cb8d847819900377e99caf6cdcafc08063b0
|
[
"MIT"
] | null | null | null |
model/banana_ant.xml
|
ugo-nama-kun/mujoco_marker_example
|
6386cb8d847819900377e99caf6cdcafc08063b0
|
[
"MIT"
] | null | null | null |
<mujoco model="ant">
<compiler inertiafromgeom="true" angle="degree" coordinate="local" />
<option timestep="0.01" integrator="RK4" />
<custom>
<numeric name="init_qpos" data="0.0 0.0 0.55 1.0 0.0 0.0 0.0 0.0 1.0 0.0 -1.0 0.0 -1.0 0.0 1.0" />
</custom>
<visual>
<global offwidth="480" offheight="480" />
</visual>
<default>
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</default>
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<mesh file="banana.stl" name="banana" />
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<material name='geom' texture="texgeom" texuniform="true" />
</asset>
<worldbody>
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<body name="torso" pos="0 0 0.75">
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<geom name="torso_geom" type="sphere" size="0.25" pos="0 0 0" />
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<body name="aux_1" pos="0.2 0.2 0">
<joint name="hip_1" type="hinge" pos="0.0 0.0 0.0" axis="0 0 1" range="-30 30" />
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<body pos="0.2 0.2 0">
<joint name="ankle_1" type="hinge" pos="0.0 0.0 0.0" axis="-1 1 0" range="30 70" />
<geom name="left_ankle_geom" type="capsule" size="0.08" fromto="0.0 0.0 0.0 0.4 0.4 0.0" />
</body>
</body>
</body>
<body name="front_right_leg" pos="0 0 0">
<geom name="aux_2_geom" type="capsule" size="0.08" fromto="0.0 0.0 0.0 -0.2 0.2 0.0" />
<body name="aux_2" pos="-0.2 0.2 0">
<joint name="hip_2" type="hinge" pos="0.0 0.0 0.0" axis="0 0 1" range="-30 30" />
<geom name="right_leg_geom" type="capsule" size="0.08" fromto="0.0 0.0 0.0 -0.2 0.2 0.0" />
<body pos="-0.2 0.2 0">
<joint name="ankle_2" type="hinge" pos="0.0 0.0 0.0" axis="1 1 0" range="-70 -30" />
<geom name="right_ankle_geom" type="capsule" size="0.08" fromto="0.0 0.0 0.0 -0.4 0.4 0.0" />
</body>
</body>
</body>
<body name="back_leg" pos="0 0 0">
<geom name="aux_3_geom" type="capsule" size="0.08" fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" />
<body name="aux_3" pos="-0.2 -0.2 0">
<joint name="hip_3" type="hinge" pos="0.0 0.0 0.0" axis="0 0 1" range="-30 30" />
<geom name="back_leg_geom" type="capsule" size="0.08" fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" />
<body pos="-0.2 -0.2 0">
<joint name="ankle_3" type="hinge" pos="0.0 0.0 0.0" axis="-1 1 0" range="-70 -30" />
<geom name="third_ankle_geom" type="capsule" size="0.08" fromto="0.0 0.0 0.0 -0.4 -0.4 0.0" />
</body>
</body>
</body>
<body name="right_back_leg" pos="0 0 0">
<geom name="aux_4_geom" type="capsule" size="0.08" fromto="0.0 0.0 0.0 0.2 -0.2 0.0" />
<body name="aux_4" pos="0.2 -0.2 0">
<joint name="hip_4" type="hinge" pos="0.0 0.0 0.0" axis="0 0 1" range="-30 30" />
<geom name="rightback_leg_geom" type="capsule" size="0.08" fromto="0.0 0.0 0.0 0.2 -0.2 0.0" />
<body pos="0.2 -0.2 0">
<joint name="ankle_4" type="hinge" pos="0.0 0.0 0.0" axis="1 1 0" range="30 70" />
<geom name="fourth_ankle_geom" type="capsule" size="0.08" fromto="0.0 0.0 0.0 0.4 -0.4 0.0" />
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor joint="hip_4" ctrlrange="-30.0 30.0" ctrllimited="true" />
<motor joint="ankle_4" ctrlrange="-30.0 30.0" ctrllimited="true" />
<motor joint="hip_1" ctrlrange="-30.0 30.0" ctrllimited="true" />
<motor joint="ankle_1" ctrlrange="-30.0 30.0" ctrllimited="true" />
<motor joint="hip_2" ctrlrange="-30.0 30.0" ctrllimited="true" />
<motor joint="ankle_2" ctrlrange="-30.0 30.0" ctrllimited="true" />
<motor joint="hip_3" ctrlrange="-30.0 30.0" ctrllimited="true" />
<motor joint="ankle_3" ctrlrange="-30.0 30.0" ctrllimited="true" />
</actuator>
</mujoco>
| 59.388235 | 164 | 0.562995 |
b7f0ca3b2083e2fd78b98c99dda4a41b8d8ffeae
| 1,768 |
xml
|
XML
|
gym/envs/robotics/assets/fetch/random_obj_xml/5950_grasp.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/5950_grasp.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/5950_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/595/595.stl" name="obj0" scale="0.012646521012993808 0.012646521012993808 0.012646521012993808" />
</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="0.03963254016046989 0.0777395684307054 0.02361360300524356">
<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="0.00026592385413874334 -0.0006390646338995144 -0.0001828755759178417" rgba="1 0 0 0" size="0.019816270080234944 0.0388697842153527 0.01180680150262178" 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 | 200 | 0.670249 |
b7f397b6eace1712d3efd51933067742fa459b52
| 106,130 |
xml
|
XML
|
herb_reconf/cluttered_scenes/grasping_potted_plant_3_1_0.2_scene.xml
|
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
|
f55c6b0fac44d9d749e7804d99169a39d30c2111
|
[
"MIT"
] | null | null | null |
herb_reconf/cluttered_scenes/grasping_potted_plant_3_1_0.2_scene.xml
|
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
|
f55c6b0fac44d9d749e7804d99169a39d30c2111
|
[
"MIT"
] | null | null | null |
herb_reconf/cluttered_scenes/grasping_potted_plant_3_1_0.2_scene.xml
|
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
|
f55c6b0fac44d9d749e7804d99169a39d30c2111
|
[
"MIT"
] | null | null | null |
<?xml version="1.0" ?><mujoco model="scene">
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<default class="geom0">
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<default class="herb/">
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<default class="herb/wam/">
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<default class="herb/wam/bhand/">
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<default class="herb/wam_1/bhand/viz">
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0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_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="-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>
| 166.609105 | 27,872 | 0.692283 |
b7f54ccc51f7c41c5ed2e8adda7ff3efac50793f
| 173,318 |
xacro
|
XML
|
husky_description/urdf/dual_arm_husky_mujoco.urdf.xacro
|
wangcongrobot/dual-ur5-husky-mujoco
|
b9d744123a8a2eed757646727946947bcbfacdb7
|
[
"Apache-2.0"
] | 58 |
2019-12-16T02:35:37.000Z
|
2022-03-24T06:52:15.000Z
|
husky_description/urdf/dual_arm_husky_mujoco.urdf.xacro
|
wangcongrobot/dual-ur5-husky-mujoco
|
b9d744123a8a2eed757646727946947bcbfacdb7
|
[
"Apache-2.0"
] | null | null | null |
husky_description/urdf/dual_arm_husky_mujoco.urdf.xacro
|
wangcongrobot/dual-ur5-husky-mujoco
|
b9d744123a8a2eed757646727946947bcbfacdb7
|
[
"Apache-2.0"
] | 14 |
2020-04-16T08:21:38.000Z
|
2022-01-11T15:30:12.000Z
|
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from dual_arm_husky.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from description.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!--
Software License Agreement (BSD)
\file description.urdf.xacro
\authors Paul Bovbel <[email protected]>, Devon Ash <[email protected]>
\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that
the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this list of conditions and the
following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
following disclaimer in the documentation and/or other materials provided with the distribution.
* Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-->
<robot name="husky" xmlns:xacro="http://www.ros.org/wiki/xacro">
<mujoco>
<compiler
meshdir="../meshes_mujoco/"
fusestatic= "true"
balanceinertia="true"
strippath="true"
discardvisual="false" />
</mujoco>
<!-- Included URDF/XACRO Files -->
<!-- Inertia parameters -->
<!-- This mass might be incorrect -->
<!-- Kinematic model -->
<!-- Properties from urcontrol.conf -->
<!--
DH for UR5:
a = [0.00000, -0.42500, -0.39225, 0.00000, 0.00000, 0.0000]
d = [0.089159, 0.00000, 0.00000, 0.10915, 0.09465, 0.0823]
alpha = [ 1.570796327, 0, 0, 1.570796327, -1.570796327, 0 ]
q_home_offset = [0, -1.570796327, 0, -1.570796327, 0, 0]
joint_direction = [-1, -1, 1, 1, 1, 1]
mass = [3.7000, 8.3930, 2.2750, 1.2190, 1.2190, 0.1879]
center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0, 0.0265], [0, -0.0018, 0.01634], [0, 0.0018,0.01634], [0, 0, -0.001159] ]
-->
<!-- Arbitrary offsets for shoulder/elbow joints -->
<!-- measured from model -->
<!-- measured from model -->
<!-- link lengths used in model -->
<!--property name="shoulder_height" value="0.089159" /-->
<!--property name="shoulder_offset" value="0.13585" /-->
<!-- shoulder_offset - elbow_offset + wrist_1_length = 0.10915 -->
<!--property name="upper_arm_length" value="0.42500" /-->
<!--property name="elbow_offset" value="0.1197" /-->
<!-- CAD measured -->
<!--property name="forearm_length" value="0.39225" /-->
<!--property name="wrist_1_length" value="0.093" /-->
<!-- CAD measured -->
<!--property name="wrist_2_length" value="0.09465" /-->
<!-- In CAD this distance is 0.930, but in the spec it is 0.09465 -->
<!--property name="wrist_3_length" value="0.0823" /-->
<!-- manually measured -->
<!-- manually measured -->
<!-- manually measured -->
<!-- manually measured -->
<!-- manually measured -->
<!-- Base Size -->
<!-- Wheel Mounting Positions -->
<!-- Wheel Properties -->
<!-- Base link is the center of the robot's bottom plate -->
<link name="base_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://husky_description/meshes/base_link.stl"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.061875"/>
<geometry>
<box size="0.9874 0.5709 0.12375"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.185625"/>
<geometry>
<box size="0.78992 0.5709 0.12375"/>
</geometry>
</collision>
</link>
<!-- Base footprint is on the ground under the robot -->
<link name="base_footprint"/>
<joint name="base_footprint_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.14493"/>
<parent link="base_link"/>
<child link="base_footprint"/>
</joint>
<!-- Interial link stores the robot's inertial information -->
<link name="inertial_link">
<inertial>
<mass value="0.39054"/>
<origin xyz="-0.0648 -0.00059 0.07895"/>
<inertia ixx="0.001634275613800003" ixy="-0.0055452352110000006" ixz="-0.041083822026" iyy="0.05314689495400002" iyz="-0.0004366145530000001" izz="-0.004759585875"/>
</inertial>
</link>
<joint name="inertial_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="inertial_link"/>
</joint>
<!-- IMU Link is the standard mounting position for the UM6 IMU.-->
<!-- Can be modified with environment variables in /etc/ros/setup.bash -->
<link name="imu_link"/>
<joint name="imu_joint" type="fixed">
<!-- <origin xyz="$(optenv HUSKY_IMU_XYZ 0.19 0 0.149)" rpy="$(optenv HUSKY_IMU_RPY 0 -1.5708 3.1416)" /> -->
<origin rpy="-1.5708 0 0" xyz="0.19 0 0.149"/>
<parent link="base_link"/>
<child link="imu_link"/>
</joint>
<gazebo reference="imu_link">
</gazebo>
<!-- Husky wheel macros -->
<link name="front_left_wheel_link">
<inertial>
<mass value="2.637"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://husky_description/meshes/wheel.stl"/>
</geometry>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.1143" radius="0.17775"/>
</geometry>
</collision>
</link>
<gazebo reference="front_left_wheel_link">
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1.0"/>
<fdir1 value="1 0 0"/>
</gazebo>
<joint name="front_left_wheel" type="continuous">
<parent link="base_link"/>
<child link="front_left_wheel_link"/>
<origin rpy="0 0 0" xyz="0.256 0.2854 0.03282"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<transmission name="front_left_wheel_trans" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="front_left_wheel_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="front_left_wheel">
<hardwareInterface>VelocityJointInterface</hardwareInterface>
</joint>
</transmission>
<link name="front_right_wheel_link">
<inertial>
<mass value="2.637"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://husky_description/meshes/wheel.stl"/>
</geometry>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.1143" radius="0.17775"/>
</geometry>
</collision>
</link>
<gazebo reference="front_right_wheel_link">
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1.0"/>
<fdir1 value="1 0 0"/>
</gazebo>
<joint name="front_right_wheel" type="continuous">
<parent link="base_link"/>
<child link="front_right_wheel_link"/>
<origin rpy="0 0 0" xyz="0.256 -0.2854 0.03282"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<transmission name="front_right_wheel_trans" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="front_right_wheel_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="front_right_wheel">
<hardwareInterface>VelocityJointInterface</hardwareInterface>
</joint>
</transmission>
<link name="rear_left_wheel_link">
<inertial>
<mass value="2.637"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://husky_description/meshes/wheel.stl"/>
</geometry>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.1143" radius="0.17775"/>
</geometry>
</collision>
</link>
<gazebo reference="rear_left_wheel_link">
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1.0"/>
<fdir1 value="1 0 0"/>
</gazebo>
<joint name="rear_left_wheel" type="continuous">
<parent link="base_link"/>
<child link="rear_left_wheel_link"/>
<origin rpy="0 0 0" xyz="-0.256 0.2854 0.03282"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<transmission name="rear_left_wheel_trans" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="rear_left_wheel_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="rear_left_wheel">
<hardwareInterface>VelocityJointInterface</hardwareInterface>
</joint>
</transmission>
<link name="rear_right_wheel_link">
<inertial>
<mass value="2.637"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://husky_description/meshes/wheel.stl"/>
</geometry>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.1143" radius="0.17775"/>
</geometry>
</collision>
</link>
<gazebo reference="rear_right_wheel_link">
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1.0"/>
<fdir1 value="1 0 0"/>
</gazebo>
<joint name="rear_right_wheel" type="continuous">
<parent link="base_link"/>
<child link="rear_right_wheel_link"/>
<origin rpy="0 0 0" xyz="-0.256 -0.2854 0.03282"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<transmission name="rear_right_wheel_trans" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="rear_right_wheel_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="rear_right_wheel">
<hardwareInterface>VelocityJointInterface</hardwareInterface>
</joint>
</transmission>
<!-- Spawn Husky chassis -->
<link name="top_chassis_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://husky_description/meshes/top_chassis.stl"/>
</geometry>
</visual>
</link>
<!-- Attach chassis to the robot -->
<joint name="top_chassis_joint" type="fixed">
<parent link="base_link"/>
<child link="top_chassis_link"/>
</joint>
<!-- Spawn front bumper link -->
<link name="front_bumper_link">
<visual>
<geometry>
<mesh filename="package://husky_description/meshes/bumper.stl"/>
</geometry>
</visual>
</link>
<!-- Attach front bumper -->
<joint name="front_bumper" type="fixed">
<origin rpy="0 0 0" xyz="0.48 0 0.091"/>
<parent link="base_link"/>
<child link="front_bumper_link"/>
</joint>
<!-- Spawn rear bumper link -->
<link name="rear_bumper_link">
<visual>
<geometry>
<mesh filename="package://husky_description/meshes/bumper.stl"/>
</geometry>
</visual>
</link>
<!-- Attach rear bumper -->
<joint name="rear_bumper" type="fixed">
<origin rpy="0 0 3.14159" xyz="-0.48 0 0.091"/>
<parent link="base_link"/>
<child link="rear_bumper_link"/>
</joint>
<!-- Spawn the bulkhead -->
<link name="dual_arm_bulkhead_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://husky_description/meshes/dual_arm_bulkhead.stl"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://husky_description/meshes/dual_arm_bulkhead.stl"/>
</geometry>
</collision>
</link>
<!-- Attach bulkhead -->
<joint name="dual_arm_bulkhead_joint" type="fixed">
<parent link="base_link"/>
<child link="dual_arm_bulkhead_link"/>
<origin rpy="0 0 0" xyz="0 0 0.225"/>
</joint>
<link name="husky_ptu_pan_link">
<inertial>
<mass value="0.65"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<visual>
<material name="ptu_body_color">
<color rgba="0.3 0.3 0.3 1.0"/>
</material>
<origin rpy="3.14 0 0" xyz="-0.0295 0.011 0"/>
<geometry>
<mesh filename="package://flir_ptu_description/meshes/flir-ptu-simple.stl"/>
</geometry>
</visual>
<collision>
<geometry>
<box size="0.045 0.065 0.044"/>
</geometry>
<origin xyz="0 0.011 0"/>
</collision>
<collision>
<geometry>
<box size="0.046 0.044 0.044"/>
</geometry>
<origin xyz="-0.045 0.0215 0"/>
</collision>
<collision>
<geometry>
<cylinder length="0.015" radius="0.005"/>
</geometry>
<origin rpy="0 1.57 0" xyz="-0.074 0.021 0"/>
</collision>
</link>
<gazebo reference="husky_ptu_pan_link">
<material>Gazebo/DarkGrey</material>
</gazebo>
<link name="husky_ptu_tilt_link">
<inertial>
<mass value="0.65"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<visual>
<material name="ptu_body_color">
<color rgba="0.3 0.3 0.3 1.0"/>
</material>
<origin rpy="3.14 0 0" xyz="-0.0295 0.011 0"/>
<geometry>
<mesh filename="package://flir_ptu_description/meshes/flir-ptu-simple.stl"/>
</geometry>
</visual>
<collision>
<geometry>
<box size="0.045 0.065 0.044"/>
</geometry>
<origin xyz="0 0.011 0"/>
</collision>
<collision>
<geometry>
<box size="0.046 0.044 0.044"/>
</geometry>
<origin xyz="-0.045 0.0215 0"/>
</collision>
<collision>
<geometry>
<cylinder length="0.015" radius="0.005"/>
</geometry>
<origin rpy="0 1.57 0" xyz="-0.074 0.021 0"/>
</collision>
</link>
<gazebo reference="husky_ptu_tilt_link">
<material>Gazebo/DarkGrey</material>
</gazebo>
<link name="husky_ptu_base_link">
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
</link>
<link name="husky_ptu_tilted_link"/>
<link name="husky_ptu_mount_link">
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
</link>
<!-- There's an offset between the origin of the pan joint and the origin of
the overall device, which is between the mounting screws on its base. -->
<joint name="husky_ptu_base" type="fixed">
<parent link="husky_ptu_base_link"/>
<child link="husky_ptu_pan_link"/>
<origin xyz="0 -0.011 0.022"/>
</joint>
<!-- The pan joint -->
<joint name="husky_ptu_pan" type="revolute">
<parent link="husky_ptu_pan_link"/>
<origin rpy="-1.5708 0 0" xyz="0 0 0.066"/>
<child link="husky_ptu_tilt_link"/>
<axis rpy="3.14159 0 0" xyz="0 -1 0"/>
<limit effort="30" lower="-2.775" upper="2.775" velocity="1.0"/>
</joint>
<transmission name="husky_ptu_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="husky_ptu_pan">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="husky_ptu_pan_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- The tilt joint -->
<joint name="husky_ptu_tilt" type="revolute">
<parent link="husky_ptu_tilt_link"/>
<origin rpy="-1.5708 0 0" xyz="0 0 0"/>
<child link="husky_ptu_tilted_link"/>
<axis xyz="0 1 0"/>
<limit effort="30" lower="-0.82" upper="0.52" velocity="1.0"/>
</joint>
<transmission name="husky_ptu_tilt_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="husky_ptu_tilt">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="husky_ptu_tilt_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Fixed joint to provide a convenient attachment point for accessories. -->
<joint name="husky_ptu_mount" type="fixed">
<parent link="husky_ptu_tilted_link"/>
<child link="husky_ptu_mount_link"/>
<origin rpy="3.1416 0 0" xyz="0 0 -0.03912"/>
</joint>
<!-- Connect PTU to Husky bulkhead -->
<joint name="husky_ptu_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.345 0.010414 0.19876"/>
<!-- x-translation still needs to be measured -->
<parent link="dual_arm_bulkhead_link"/>
<child link="husky_ptu_base_link"/>
</joint>
<link name="l_ur5_arm_base_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/base.stl"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/base.stl"/>
</geometry>
</collision>
<inertial>
<mass value="4.0"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
</inertial>
</link>
<joint name="l_ur5_arm_shoulder_pan_joint" type="revolute">
<parent link="l_ur5_arm_base_link"/>
<child link="l_ur5_arm_shoulder_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.089159"/>
<axis xyz="0 0 1"/>
<limit effort="150.0" lower="-3.14159265" upper="3.14159265" velocity="3.15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="l_ur5_arm_shoulder_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/shoulder.stl"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/shoulder.stl"/>
</geometry>
</collision>
<inertial>
<mass value="3.7"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.010267495893" ixy="0.0" ixz="0.0" iyy="0.010267495893" iyz="0.0" izz="0.00666"/>
</inertial>
</link>
<joint name="l_ur5_arm_shoulder_lift_joint" type="revolute">
<parent link="l_ur5_arm_shoulder_link"/>
<child link="l_ur5_arm_upper_arm_link"/>
<origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.13585 0.0"/>
<axis xyz="0 1 0"/>
<limit effort="150.0" lower="-3.14159265" upper="3.14159265" velocity="3.15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="l_ur5_arm_upper_arm_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/upperarm.stl"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/upperarm.stl"/>
</geometry>
</collision>
<inertial>
<mass value="8.393"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.28"/>
<inertia ixx="0.22689067591" ixy="0.0" ixz="0.0" iyy="0.22689067591" iyz="0.0" izz="0.0151074"/>
</inertial>
</link>
<joint name="l_ur5_arm_elbow_joint" type="revolute">
<parent link="l_ur5_arm_upper_arm_link"/>
<child link="l_ur5_arm_forearm_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.1197 0.425"/>
<axis xyz="0 1 0"/>
<limit effort="150.0" lower="-3.14159265" upper="3.14159265" velocity="3.15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="l_ur5_arm_forearm_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/forearm.stl"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/forearm.stl"/>
</geometry>
</collision>
<inertial>
<mass value="2.275"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.25"/>
<inertia ixx="0.049443313556" ixy="0.0" ixz="0.0" iyy="0.049443313556" iyz="0.0" izz="0.004095"/>
</inertial>
</link>
<joint name="l_ur5_arm_wrist_1_joint" type="revolute">
<parent link="l_ur5_arm_forearm_link"/>
<child link="l_ur5_arm_wrist_1_link"/>
<origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.0 0.39225"/>
<axis xyz="0 1 0"/>
<limit effort="28.0" lower="-3.14159265" upper="3.14159265" velocity="3.2"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="l_ur5_arm_wrist_1_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/wrist1.stl"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/wrist1.stl"/>
</geometry>
</collision>
<inertial>
<mass value="1.219"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.111172755531" ixy="0.0" ixz="0.0" iyy="0.111172755531" iyz="0.0" izz="0.21942"/>
</inertial>
</link>
<joint name="l_ur5_arm_wrist_2_joint" type="revolute">
<parent link="l_ur5_arm_wrist_1_link"/>
<child link="l_ur5_arm_wrist_2_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.093 0.0"/>
<axis xyz="0 0 1"/>
<limit effort="28.0" lower="-3.14159265" upper="3.14159265" velocity="3.2"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="l_ur5_arm_wrist_2_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/wrist2.stl"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/wrist2.stl"/>
</geometry>
</collision>
<inertial>
<mass value="1.219"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.111172755531" ixy="0.0" ixz="0.0" iyy="0.111172755531" iyz="0.0" izz="0.21942"/>
</inertial>
</link>
<joint name="l_ur5_arm_wrist_3_joint" type="revolute">
<parent link="l_ur5_arm_wrist_2_link"/>
<child link="l_ur5_arm_wrist_3_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.09465"/>
<axis xyz="0 1 0"/>
<limit effort="28.0" lower="-3.14159265" upper="3.14159265" velocity="3.2"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="l_ur5_arm_wrist_3_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/wrist3.stl"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/wrist3.stl"/>
</geometry>
</collision>
<inertial>
<mass value="0.1879"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.0171364731454" ixy="0.0" ixz="0.0" iyy="0.0171364731454" iyz="0.0" izz="0.033822"/>
</inertial>
</link>
<joint name="l_ur5_arm_ee_fixed_joint" type="fixed">
<parent link="l_ur5_arm_wrist_3_link"/>
<child link="l_ur5_arm_ee_link"/>
<origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0823 0.0"/>
</joint>
<link name="l_ur5_arm_ee_link">
<collision>
<geometry>
<box size="0.01 0.01 0.01"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.01 0 0"/>
</collision>
</link>
<transmission name="l_ur5_arm_shoulder_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="l_ur5_arm_shoulder_pan_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="l_ur5_arm_shoulder_pan_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="l_ur5_arm_shoulder_lift_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="l_ur5_arm_shoulder_lift_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="l_ur5_arm_shoulder_lift_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="l_ur5_arm_elbow_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="l_ur5_arm_elbow_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="l_ur5_arm_elbow_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="l_ur5_arm_wrist_1_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="l_ur5_arm_wrist_1_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="l_ur5_arm_wrist_1_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="l_ur5_arm_wrist_2_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="l_ur5_arm_wrist_2_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="l_ur5_arm_wrist_2_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="l_ur5_arm_wrist_3_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="l_ur5_arm_wrist_3_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="l_ur5_arm_wrist_3_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- nothing to do here at the moment -->
<!-- ROS base_link to UR 'Base' Coordinates transform -->
<link name="l_ur5_arm_base"/>
<joint name="l_ur5_arm_base_link-base_fixed_joint" type="fixed">
<!-- NOTE: this rotation is only needed as long as base_link itself is
not corrected wrt the real robot (ie: rotated over 180
degrees)
-->
<origin rpy="0 0 -3.14159265" xyz="0 0 0"/>
<parent link="l_ur5_arm_base_link"/>
<child link="l_ur5_arm_base"/>
</joint>
<!-- Frame coincident with all-zeros TCP on UR controller -->
<link name="l_ur5_arm_tool0"/>
<joint name="l_ur5_arm_wrist_3_link-tool0_fixed_joint" type="fixed">
<origin rpy="-1.570796325 0 0" xyz="0 0.0823 0"/>
<parent link="l_ur5_arm_wrist_3_link"/>
<child link="l_ur5_arm_tool0"/>
</joint>
<link name="r_ur5_arm_base_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/base.stl"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/base.stl"/>
</geometry>
</collision>
<inertial>
<mass value="4.0"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
</inertial>
</link>
<joint name="r_ur5_arm_shoulder_pan_joint" type="revolute">
<parent link="r_ur5_arm_base_link"/>
<child link="r_ur5_arm_shoulder_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.089159"/>
<axis xyz="0 0 1"/>
<limit effort="150.0" lower="-3.14159265" upper="3.14159265" velocity="3.15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="r_ur5_arm_shoulder_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/shoulder.stl"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/shoulder.stl"/>
</geometry>
</collision>
<inertial>
<mass value="3.7"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.010267495893" ixy="0.0" ixz="0.0" iyy="0.010267495893" iyz="0.0" izz="0.00666"/>
</inertial>
</link>
<joint name="r_ur5_arm_shoulder_lift_joint" type="revolute">
<parent link="r_ur5_arm_shoulder_link"/>
<child link="r_ur5_arm_upper_arm_link"/>
<origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.13585 0.0"/>
<axis xyz="0 1 0"/>
<limit effort="150.0" lower="-3.14159265" upper="3.14159265" velocity="3.15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="r_ur5_arm_upper_arm_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/upperarm.stl"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/upperarm.stl"/>
</geometry>
</collision>
<inertial>
<mass value="8.393"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.28"/>
<inertia ixx="0.22689067591" ixy="0.0" ixz="0.0" iyy="0.22689067591" iyz="0.0" izz="0.0151074"/>
</inertial>
</link>
<joint name="r_ur5_arm_elbow_joint" type="revolute">
<parent link="r_ur5_arm_upper_arm_link"/>
<child link="r_ur5_arm_forearm_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.1197 0.425"/>
<axis xyz="0 1 0"/>
<limit effort="150.0" lower="-3.14159265" upper="3.14159265" velocity="3.15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="r_ur5_arm_forearm_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/forearm.stl"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/forearm.stl"/>
</geometry>
</collision>
<inertial>
<mass value="2.275"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.25"/>
<inertia ixx="0.049443313556" ixy="0.0" ixz="0.0" iyy="0.049443313556" iyz="0.0" izz="0.004095"/>
</inertial>
</link>
<joint name="r_ur5_arm_wrist_1_joint" type="revolute">
<parent link="r_ur5_arm_forearm_link"/>
<child link="r_ur5_arm_wrist_1_link"/>
<origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.0 0.39225"/>
<axis xyz="0 1 0"/>
<limit effort="28.0" lower="-3.14159265" upper="3.14159265" velocity="3.2"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="r_ur5_arm_wrist_1_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/wrist1.stl"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/wrist1.stl"/>
</geometry>
</collision>
<inertial>
<mass value="1.219"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.111172755531" ixy="0.0" ixz="0.0" iyy="0.111172755531" iyz="0.0" izz="0.21942"/>
</inertial>
</link>
<joint name="r_ur5_arm_wrist_2_joint" type="revolute">
<parent link="r_ur5_arm_wrist_1_link"/>
<child link="r_ur5_arm_wrist_2_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.093 0.0"/>
<axis xyz="0 0 1"/>
<limit effort="28.0" lower="-3.14159265" upper="3.14159265" velocity="3.2"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="r_ur5_arm_wrist_2_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/wrist2.stl"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/wrist2.stl"/>
</geometry>
</collision>
<inertial>
<mass value="1.219"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.111172755531" ixy="0.0" ixz="0.0" iyy="0.111172755531" iyz="0.0" izz="0.21942"/>
</inertial>
</link>
<joint name="r_ur5_arm_wrist_3_joint" type="revolute">
<parent link="r_ur5_arm_wrist_2_link"/>
<child link="r_ur5_arm_wrist_3_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.09465"/>
<axis xyz="0 1 0"/>
<limit effort="28.0" lower="-3.14159265" upper="3.14159265" velocity="3.2"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="r_ur5_arm_wrist_3_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/wrist3.stl"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/wrist3.stl"/>
</geometry>
</collision>
<inertial>
<mass value="0.1879"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.0171364731454" ixy="0.0" ixz="0.0" iyy="0.0171364731454" iyz="0.0" izz="0.033822"/>
</inertial>
</link>
<joint name="r_ur5_arm_ee_fixed_joint" type="fixed">
<parent link="r_ur5_arm_wrist_3_link"/>
<child link="r_ur5_arm_ee_link"/>
<origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0823 0.0"/>
</joint>
<link name="r_ur5_arm_ee_link">
<collision>
<geometry>
<box size="0.01 0.01 0.01"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.01 0 0"/>
</collision>
</link>
<transmission name="r_ur5_arm_shoulder_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="r_ur5_arm_shoulder_pan_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="r_ur5_arm_shoulder_pan_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="r_ur5_arm_shoulder_lift_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="r_ur5_arm_shoulder_lift_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="r_ur5_arm_shoulder_lift_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="r_ur5_arm_elbow_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="r_ur5_arm_elbow_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="r_ur5_arm_elbow_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="r_ur5_arm_wrist_1_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="r_ur5_arm_wrist_1_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="r_ur5_arm_wrist_1_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="r_ur5_arm_wrist_2_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="r_ur5_arm_wrist_2_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="r_ur5_arm_wrist_2_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="r_ur5_arm_wrist_3_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="r_ur5_arm_wrist_3_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="r_ur5_arm_wrist_3_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- nothing to do here at the moment -->
<!-- ROS base_link to UR 'Base' Coordinates transform -->
<link name="r_ur5_arm_base"/>
<joint name="r_ur5_arm_base_link-base_fixed_joint" type="fixed">
<!-- NOTE: this rotation is only needed as long as base_link itself is
not corrected wrt the real robot (ie: rotated over 180
degrees)
-->
<origin rpy="0 0 -3.14159265" xyz="0 0 0"/>
<parent link="r_ur5_arm_base_link"/>
<child link="r_ur5_arm_base"/>
</joint>
<!-- Frame coincident with all-zeros TCP on UR controller -->
<link name="r_ur5_arm_tool0"/>
<joint name="r_ur5_arm_wrist_3_link-tool0_fixed_joint" type="fixed">
<origin rpy="-1.570796325 0 0" xyz="0 0.0823 0"/>
<parent link="r_ur5_arm_wrist_3_link"/>
<child link="r_ur5_arm_tool0"/>
</joint>
<!-- Add laser specifically for this mode -->
<link name="base_laser">
<inertial>
<mass value="1.1"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.00307156543804" ixy="0.0" ixz="0.0" iyy="0.00312849041527" iyz="0.0" izz="0.00196432421427"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<!-- Origin of this mesh is the focal point of the LIDAR. -->
<mesh filename="package://lms1xx/meshes/sick-lms1xx.stl"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.05"/>
<geometry>
<box size="0.105 0.1 0.1"/>
</geometry>
</collision>
</link>
<gazebo reference="base_laser">
<turnGravityOff>true</turnGravityOff>
<sensor name="base_laser" type="ray">
<pose>0 0 0 0 0 0</pose>
<visualize>false</visualize>
<update_rate>50</update_rate>
<ray>
<scan>
<horizontal>
<samples>720</samples>
<resolution>1</resolution>
<min_angle>-3.14</min_angle>
<max_angle>3.14</max_angle>
</horizontal>
</scan>
<range>
<min>0.10</min>
<max>30.0</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.001</stddev>
</noise>
</ray>
<plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_laser">
<topicName>scan</topicName>
<frameName>base_laser</frameName>
</plugin>
</sensor>
</gazebo>
<!-- This offset is from the base of the bracket to the LIDAR's focal point. -->
<joint name="base_laser_joint" type="fixed">
<origin rpy="3.14159 0 0" xyz="0.465 0 -0.085"/>
<parent link="dual_arm_bulkhead_link"/>
<child link="base_laser"/>
</joint>
<!-- Add bumblebee camera -->
<link name="bumblebee2">
<visual>
<origin rpy="-1.5707 0 -1.5707" xyz="0 0 0"/>
<geometry>
<mesh filename="package://pointgrey_camera_description/meshes/pointgrey_bumblebee2.stl"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.04740 0.157 0.036"/>
</geometry>
</collision>
<inertial>
<mass value="0.342"/>
<inertia ixx="0.00010096866" ixy="0" ixz="0" iyy="0.00076652916" iyz="0" izz="0.0007394325"/>
</inertial>
</link>
<link name="bumblebee2_optical">
<inertial>
<mass value="1E-5"/>
<inertia ixx="1E-10" ixy="0" ixz="0" iyy="1E-10" iyz="0" izz="1E-10"/>
</inertial>
</link>
<joint name="bumblebee2_optical_joint" type="fixed">
<origin rpy="-1.570796 0 -1.570796" xyz="0 0 0"/>
<parent link="bumblebee2"/>
<child link="bumblebee2_optical"/>
</joint>
<gazebo reference="bumblebee2_optical">
<sensor name="stereo_camera" type="multicamera">
<update_rate>20</update_rate>
<camera name="left">
<pose>0 0 0 0 -1.5707 1.5707</pose>
<horizontal_fov>1.15191730632</horizontal_fov>
<image>
<width>1024</width>
<height>768</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.5</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<camera name="right">
<pose>0.12 0 0 0 -1.5707 1.5707</pose>
<horizontal_fov>1.15191730632</horizontal_fov>
<image>
<width>1024</width>
<height>768</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.5</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin filename="libgazebo_ros_multicamera.so" name="stereo_camera_controller">
<alwaysOn>true</alwaysOn>
<cameraName>bumblebee2</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>bumblebee2_optical</frameName>
<hackBaseline>0.12</hackBaseline>
<!-- NOTE: Distortion is currently unused -->
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
</plugin>
</sensor>
</gazebo>
<joint name="bumblebee2_mount_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.02224"/>
<parent link="husky_ptu_mount_link"/>
<child link="bumblebee2"/>
</joint>
<!-- Add force torque model FT300 -->
<!-- mount the fts to the robot -->
<joint name="l_robotiq_fts300_fts_fix" type="fixed">
<!--In most cases origin would be flange adapter plate: <origin xyz="0 0 0.009" rpy="0 0 0"/> /-->
<origin rpy="0 1.57 0" xyz="0 0 0"/>
<parent link="l_ur5_arm_ee_link"/>
<child link="l_robotiq_fts300_fts_robotside"/>
</joint>
<link name="l_robotiq_fts300_fts_robotside">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.01875"/>
<mass value="0.65"/>
<inertia ixx="0.000661171875" ixy="0" ixz="0" iyy="0.000661171875" iyz="0" izz="0.00117"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_force_torque_sensor/meshes/visual/robotiq_fts300.stl"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_force_torque_sensor/meshes/collision/robotiq_fts300.stl"/>
</geometry>
</collision>
</link>
<!-- virtual measurement frame -->
<joint name="l_robotiq_fts300_measurment_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.01625"/>
<parent link="l_robotiq_fts300_fts_robotside"/>
<child link="l_robotiq_fts300_robotiq_force_torque_frame_id"/>
</joint>
<link name="l_robotiq_fts300_robotiq_force_torque_frame_id"/>
<!-- toolside frame -->
<joint name="l_robotiq_fts300_toolside_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.0375"/>
<parent link="l_robotiq_fts300_fts_robotside"/>
<child link="l_robotiq_fts300_fts_toolside"/>
</joint>
<link name="l_robotiq_fts300_fts_toolside"/>
<!-- mount the fts to the robot -->
<joint name="r_robotiq_fts300_fts_fix" type="fixed">
<!--In most cases origin would be flange adapter plate: <origin xyz="0 0 0.009" rpy="0 0 0"/> /-->
<origin rpy="0 1.57 0" xyz="0 0 0"/>
<parent link="r_ur5_arm_ee_link"/>
<child link="r_robotiq_fts300_fts_robotside"/>
</joint>
<link name="r_robotiq_fts300_fts_robotside">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.01875"/>
<mass value="0.65"/>
<inertia ixx="0.000661171875" ixy="0" ixz="0" iyy="0.000661171875" iyz="0" izz="0.00117"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_force_torque_sensor/meshes/visual/robotiq_fts300.stl"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_force_torque_sensor/meshes/collision/robotiq_fts300.stl"/>
</geometry>
</collision>
</link>
<!-- virtual measurement frame -->
<joint name="r_robotiq_fts300_measurment_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.01625"/>
<parent link="r_robotiq_fts300_fts_robotside"/>
<child link="r_robotiq_fts300_robotiq_force_torque_frame_id"/>
</joint>
<link name="r_robotiq_fts300_robotiq_force_torque_frame_id"/>
<!-- toolside frame -->
<joint name="r_robotiq_fts300_toolside_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.0375"/>
<parent link="r_robotiq_fts300_fts_robotside"/>
<child link="r_robotiq_fts300_fts_toolside"/>
</joint>
<link name="r_robotiq_fts300_fts_toolside"/>
<!-- joint attaching parent link to robotiq hand -->
<joint name="l_robotiq_hand_joint" type="fixed">
<origin rpy="1.57 0 1.0" xyz="0 0 0.05398"/>
<parent link="l_robotiq_fts300_fts_toolside"/>
<child link="l_palm"/>
</joint>
<!-- Insert the fingers -->
<!-- Link list -->
<!-- Link 0 -->
<link name="l_finger_1_link_0">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_0.STL"/>
</geometry>
<material name="green">
<color rgba="0 1 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_0.STL"/>
</geometry>
<material name="yellow">
<color rgba="0 1 1 1"/>
</material>
</collision>
<inertial>
<mass value="0.1"/>
<origin xyz="-0.01 0 0"/>
<inertia ixx="0.000018" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<gazebo reference="l_finger_1_link_0">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link 1 -->
<link name="l_finger_1_link_1">
<visual>
<origin rpy="0 0 1.5708" xyz="0 0.05717 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_1.STL"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 1.5708" xyz="0 0.05717 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_1.STL"/>
</geometry>
<material name="yellow">
<color rgba="0 1 1 1"/>
</material>
</collision>
<inertial>
<origin rpy="0 0 1.5708" xyz="0.00053 0.03218 0"/>
<mass value="0.047"/>
<inertia ixx="0.00000499332" ixy="0.00000091312" ixz="-0.00000000120" iyy="0.00006434531" iyz="-0.00000000007" izz="0.00006061917"/>
</inertial>
</link>
<gazebo reference="l_finger_1_link_1">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link 2 -->
<link name="l_finger_1_link_2">
<visual>
<origin rpy="0 0 1.5708" xyz="0 0.03810 0.0075"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_2.STL"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 1.5708" xyz="0 0.03810 0.0075"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_2.STL"/>
</geometry>
<material name="yellow"/>
</collision>
<inertial>
<origin rpy="0 0 1.5708" xyz="0.00048 0.02167 0.00018"/>
<mass value="0.03284"/>
<inertia ixx="0.00000348008" ixy="0.00000031940" ixz="0.00000013041" iyy="0.00002248123" iyz="0.00000000291" izz="0.00001986346"/>
</inertial>
</link>
<gazebo reference="l_finger_1_link_2">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link 3 -->
<link name="l_finger_1_link_3">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_3.STL"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_3.STL"/>
</geometry>
<material name="yellow"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01626 0.00049 0.0002"/>
<mass value="0.03354"/>
<inertia ixx="0.00000305151" ixy="0.00000089792" ixz="0.00000000249" iyy="0.00001427978" iyz="-0.00000001191" izz="0.00001264126"/>
</inertial>
</link>
<gazebo reference="l_finger_1_link_3">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link proximal actuating hinge -->
<link name="l_finger_1_link_proximal_actuating_hinge">
<visual>
<origin rpy="0 0 0" xyz="0.01429 0 0"/>
<geometry>
<box size="0.02858 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01429 0 0"/>
<geometry>
<box size="0.02858 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0012 -0.00162 -0.00161"/>
<mass value="0.02647"/>
<inertia ixx="0.00000156447" ixy="0.000000236226" ixz="-0.00000014862" iyy="0.00000221068" iyz="-0.00000014369" izz="0.00000323175"/>
</inertial>
</link>
<gazebo reference="l_finger_1_link_proximal_actuating_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paraproximal actuating hinge -->
<link name="l_finger_1_link_paraproximal_actuating_hinge">
<visual>
<origin rpy="0 0 0" xyz="0.01143 0 0"/>
<geometry>
<box size="0.02286 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01143 0 0"/>
<geometry>
<box size="0.02286 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0064 0 0"/>
<!-- copied from proximal_actuating_hinge -->
<mass value="0.00362"/>
<inertia ixx="0.00000012043" ixy="0" ixz="0" iyy="0.00000053588" iyz="0" izz="0.00000065322"/>
</inertial>
</link>
<gazebo reference="l_finger_1_link_paraproximal_actuating_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link proximal actuating bar -->
<link name="l_finger_1_link_proximal_actuating_bar">
<visual>
<origin rpy="0 0 0" xyz="0.026789 0 0"/>
<geometry>
<box size="0.05398 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.026789 0 0"/>
<geometry>
<box size="0.05398 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.02699 -0.00122 0"/>
<mass value="0.00659"/>
<inertia ixx="0.00000008348" ixy="-0.0000002179" ixz="0.00000000134" iyy="0.00000719076" iyz="0" izz="0.00000718272"/>
</inertial>
</link>
<gazebo reference="l_finger_1_link_proximal_actuating_bar">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paraproximal bar -->
<link name="l_finger_1_link_paraproximal_bar">
<visual>
<origin rpy="0 0 0" xyz="0.02885 0 0"/>
<geometry>
<box size="0.05770 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.02885 0 0"/>
<geometry>
<box size="0.05770 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.02858 -0.00129 0"/>
<mass value="0.00732"/>
<inertia ixx="0.00000009065" ixy="-0.00000027047" ixz="0.00000000142" iyy="0.00000878034" iyz="0" izz="0.00000877558"/>
</inertial>
</link>
<gazebo reference="l_finger_1_link_paraproximal_bar">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link median actuating hinge -->
<link name="l_finger_1_link_median_actuating_hinge">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0092 0.00514 0"/>
<mass value="0.00359"/>
<inertia ixx="0.00000024735" ixy="0.00000023619" ixz="0" iyy="0.00000047681" iyz="0" izz="0.00000071813"/>
</inertial>
</link>
<gazebo reference="l_finger_1_link_median_actuating_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link median bar -->
<link name="l_finger_1_link_median_bar">
<visual>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01905 -0.00107 0"/>
<mass value="0.00538"/>
<inertia ixx="0.00000006639" ixy="-0.00000010996" ixz="0.00000000094" iyy="0.00000305318" iyz="0" izz="0.00000304657"/>
</inertial>
</link>
<gazebo reference="l_finger_1_link_median_bar">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paramedian hinge -->
<link name="l_finger_1_link_paramedian_hinge">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.01025 0.00046 0"/>
<mass value="0.00276"/>
<inertia ixx="0.00000004213" ixy="-0.00000001491" ixz="0" iyy="0.00000050258" iyz="0" izz="0.00000054007"/>
</inertial>
</link>
<gazebo reference="l_finger_1_link_paramedian_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link median bar underactuated -->
<link name="l_finger_1_link_median_bar_underactuated">
<visual>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01905 -0.00107 0"/>
<mass value="0.00538"/>
<inertia ixx="0.00000006639" ixy="-0.00000010996" ixz="-0.00000000094" iyy="0.00000305318" iyz="0" izz="0.00000304657"/>
</inertial>
</link>
<gazebo reference="l_finger_1_link_median_bar_underactuated">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paradistal hinge -->
<link name="l_finger_1_link_paradistal_hinge">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 0.02 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.00548 0 0"/>
<mass value="0.00158"/>
<inertia ixx="0.00000001907" ixy="0" ixz="0" iyy="0.00000010970" iyz="0" izz="0.00000012610"/>
</inertial>
</link>
<gazebo reference="l_finger_1_link_paradistal_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- End of link list -->
<!-- Joint list -->
<!-- Joint proximal actuating hinge -->
<joint name="l_finger_1_joint_proximal_actuating_hinge" type="revolute">
<parent link="l_finger_1_link_0"/>
<child link="l_finger_1_link_proximal_actuating_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 -2.0906" xyz="0 0 0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_1_joint_proximal_actuating_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paraproximal actuating hinge -->
<joint name="l_finger_1_joint_paraproximal_actuating_hinge" type="revolute">
<parent link="l_finger_1_link_0"/>
<child link="l_finger_1_link_paraproximal_actuating_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 -2.0906" xyz="0 0 -0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_1_joint_paraproximal_actuating_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint proximal actuating bar -->
<joint name="l_finger_1_joint_proximal_actuating_bar" type="revolute">
<parent link="l_finger_1_link_proximal_actuating_hinge"/>
<child link="l_finger_1_link_proximal_actuating_bar"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 1.8616" xyz="0.02858 0 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_1_joint_proximal_actuating_bar">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paraproximal bar -->
<joint name="l_finger_1_joint_paraproximal_bar" type="revolute">
<parent link="l_finger_1_link_paraproximal_actuating_hinge"/>
<child link="l_finger_1_link_paraproximal_bar"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 1.57" xyz="0.02286 0 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_1_joint_paraproximal_bar">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint median actuating hinge -->
<joint name="l_finger_1_joint_median_actuating_hinge" type="revolute">
<parent link="l_finger_1_link_1"/>
<child link="l_finger_1_link_median_actuating_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 -0.37" xyz="0 0.05715 0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_1_joint_median_actuating_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paramedian hinge -->
<joint name="l_finger_1_joint_paramedian_hinge" type="revolute">
<parent link="l_finger_1_link_1"/>
<child link="l_finger_1_link_paramedian_hinge"/>
<axis xyz="0 0 1"/>
<!-- -0.37 is hand picked, 0.9719 is hand calculated from atan(0.02381/0.01625) -->
<origin rpy="0 0 0" xyz="0 0.05715 -0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_1_joint_paramedian_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint median actuating hinge median bar -->
<joint name="l_finger_1_joint_median_actuating_hinge_median_bar" type="revolute">
<parent link="l_finger_1_link_median_actuating_hinge"/>
<child link="l_finger_1_link_median_bar"/>
<axis xyz="0 0 1"/>
<!-- hand calc 90 deg + atan(0.01516/0.01625) -->
<origin rpy="0 0 2.3215" xyz="0.01625 0.01516 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_1_joint_median_actuating_hinge_median_bar">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paradistal hinge -->
<joint name="l_finger_1_joint_paradistal_hinge" type="revolute">
<parent link="l_finger_1_link_2"/>
<child link="l_finger_1_link_paradistal_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 0" xyz="0 0.039 -0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_1_joint_paradistal_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paramedian hinge median bar underactuated -->
<joint name="l_finger_1_joint_paramedian_hinge_median_bar_underactuated" type="revolute">
<parent link="l_finger_1_link_paramedian_hinge"/>
<child link="l_finger_1_link_median_bar_underactuated"/>
<axis xyz="0 0 1"/>
<!-- hand calc 90 deg + atan(0.01227/0.00329) -->
<origin rpy="0 0 1.5708" xyz="0.01227 0.00329 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_1_joint_paramedian_hinge_median_bar_underactuated">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint 1 -->
<joint name="l_finger_1_joint_1" type="revolute">
<origin rpy="0 0 -2.0906" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
<parent link="l_finger_1_link_0"/>
<child link="l_finger_1_link_1"/>
<dynamics damping="1" friction="0"/>
<!-- Limits: [0deg.,70deg.] -->
<limit effort="60" lower="0" upper="1.2217" velocity="-1"/>
</joint>
<gazebo reference="l_finger_1_joint_1">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint 2 -->
<joint name="l_finger_1_joint_2" type="revolute">
<parent link="l_finger_1_link_1"/>
<child link="l_finger_1_link_2"/>
<dynamics damping="1" friction="0"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 0" xyz="0 0.05715 0"/>
<!-- Limits: [0deg.,90deg.] -->
<limit effort="60" lower="0" upper="1.5708" velocity="-1"/>
</joint>
<gazebo reference="l_finger_1_joint_2">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint 3 -->
<joint name="l_finger_1_joint_3" type="revolute">
<parent link="l_finger_1_link_2"/>
<child link="l_finger_1_link_3"/>
<dynamics damping="1" friction="0"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 2.0906" xyz="0 0.039 0"/>
<!-- Limits: [-38deg.,60deg.] -->
<limit effort="60" lower="-0.6632" upper="1.0471" velocity="-1"/>
</joint>
<gazebo reference="l_finger_1_joint_3">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- end of joint list -->
<!-- coupling joints in sdf -->
<gazebo>
<joint name="l_finger_1_link_proximal_actuating_bar_median_actuating_hinge_couple" type="revolute">
<parent>l_finger_1_link_median_actuating_hinge</parent>
<child>l_finger_1_link_proximal_actuating_bar</child>
<pose>0.05398 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="l_finger_1_link_proximal_actuating_bar_median_actuating_hinge_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="l_finger_1_link_median_bar_link_3_couple" type="revolute">
<parent>l_finger_1_link_3</parent>
<child>l_finger_1_link_median_bar</child>
<pose>0.0381 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="l_finger_1_link_median_bar_link_3_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="l_finger_1_link_paramedian_bar_paradistal_hinge_couple" type="revolute">
<parent>l_finger_1_link_paradistal_hinge</parent>
<child>l_finger_1_link_median_bar_underactuated</child>
<pose>0.0381 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="l_finger_1_link_median_bar_link_3_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="l_finger_1_link_paradistal_hinge_link_3_couple" type="revolute">
<parent>l_finger_1_link_paradistal_hinge</parent>
<child>l_finger_1_link_3</child>
<pose>0.0381 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="l_finger_1_link_paradistal_hinge_link_3_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="l_finger_1_link_paraproximal_bar_paramedian_hinge_couple" type="revolute">
<parent>l_finger_1_link_paramedian_hinge</parent>
<child>l_finger_1_link_paraproximal_bar</child>
<pose>0.05770 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="l_finger_1_link_paraproximal_bar_paramedian_hinge_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Link list -->
<!-- Link 0 -->
<link name="l_finger_2_link_0">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_0.STL"/>
</geometry>
<material name="green">
<color rgba="0 1 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_0.STL"/>
</geometry>
<material name="yellow">
<color rgba="0 1 1 1"/>
</material>
</collision>
<inertial>
<mass value="0.1"/>
<origin xyz="-0.01 0 0"/>
<inertia ixx="0.000018" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<gazebo reference="l_finger_2_link_0">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link 1 -->
<link name="l_finger_2_link_1">
<visual>
<origin rpy="0 0 1.5708" xyz="0 0.05717 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_1.STL"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 1.5708" xyz="0 0.05717 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_1.STL"/>
</geometry>
<material name="yellow">
<color rgba="0 1 1 1"/>
</material>
</collision>
<inertial>
<origin rpy="0 0 1.5708" xyz="0.00053 0.03218 0"/>
<mass value="0.047"/>
<inertia ixx="0.00000499332" ixy="0.00000091312" ixz="-0.00000000120" iyy="0.00006434531" iyz="-0.00000000007" izz="0.00006061917"/>
</inertial>
</link>
<gazebo reference="l_finger_2_link_1">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link 2 -->
<link name="l_finger_2_link_2">
<visual>
<origin rpy="0 0 1.5708" xyz="0 0.03810 0.0075"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_2.STL"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 1.5708" xyz="0 0.03810 0.0075"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_2.STL"/>
</geometry>
<material name="yellow"/>
</collision>
<inertial>
<origin rpy="0 0 1.5708" xyz="0.00048 0.02167 0.00018"/>
<mass value="0.03284"/>
<inertia ixx="0.00000348008" ixy="0.00000031940" ixz="0.00000013041" iyy="0.00002248123" iyz="0.00000000291" izz="0.00001986346"/>
</inertial>
</link>
<gazebo reference="l_finger_2_link_2">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link 3 -->
<link name="l_finger_2_link_3">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_3.STL"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_3.STL"/>
</geometry>
<material name="yellow"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01626 0.00049 0.0002"/>
<mass value="0.03354"/>
<inertia ixx="0.00000305151" ixy="0.00000089792" ixz="0.00000000249" iyy="0.00001427978" iyz="-0.00000001191" izz="0.00001264126"/>
</inertial>
</link>
<gazebo reference="l_finger_2_link_3">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link proximal actuating hinge -->
<link name="l_finger_2_link_proximal_actuating_hinge">
<visual>
<origin rpy="0 0 0" xyz="0.01429 0 0"/>
<geometry>
<box size="0.02858 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01429 0 0"/>
<geometry>
<box size="0.02858 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0012 -0.00162 -0.00161"/>
<mass value="0.02647"/>
<inertia ixx="0.00000156447" ixy="0.000000236226" ixz="-0.00000014862" iyy="0.00000221068" iyz="-0.00000014369" izz="0.00000323175"/>
</inertial>
</link>
<gazebo reference="l_finger_2_link_proximal_actuating_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paraproximal actuating hinge -->
<link name="l_finger_2_link_paraproximal_actuating_hinge">
<visual>
<origin rpy="0 0 0" xyz="0.01143 0 0"/>
<geometry>
<box size="0.02286 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01143 0 0"/>
<geometry>
<box size="0.02286 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0064 0 0"/>
<!-- copied from proximal_actuating_hinge -->
<mass value="0.00362"/>
<inertia ixx="0.00000012043" ixy="0" ixz="0" iyy="0.00000053588" iyz="0" izz="0.00000065322"/>
</inertial>
</link>
<gazebo reference="l_finger_2_link_paraproximal_actuating_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link proximal actuating bar -->
<link name="l_finger_2_link_proximal_actuating_bar">
<visual>
<origin rpy="0 0 0" xyz="0.026789 0 0"/>
<geometry>
<box size="0.05398 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.026789 0 0"/>
<geometry>
<box size="0.05398 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.02699 -0.00122 0"/>
<mass value="0.00659"/>
<inertia ixx="0.00000008348" ixy="-0.0000002179" ixz="0.00000000134" iyy="0.00000719076" iyz="0" izz="0.00000718272"/>
</inertial>
</link>
<gazebo reference="l_finger_2_link_proximal_actuating_bar">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paraproximal bar -->
<link name="l_finger_2_link_paraproximal_bar">
<visual>
<origin rpy="0 0 0" xyz="0.02885 0 0"/>
<geometry>
<box size="0.05770 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.02885 0 0"/>
<geometry>
<box size="0.05770 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.02858 -0.00129 0"/>
<mass value="0.00732"/>
<inertia ixx="0.00000009065" ixy="-0.00000027047" ixz="0.00000000142" iyy="0.00000878034" iyz="0" izz="0.00000877558"/>
</inertial>
</link>
<gazebo reference="l_finger_2_link_paraproximal_bar">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link median actuating hinge -->
<link name="l_finger_2_link_median_actuating_hinge">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0092 0.00514 0"/>
<mass value="0.00359"/>
<inertia ixx="0.00000024735" ixy="0.00000023619" ixz="0" iyy="0.00000047681" iyz="0" izz="0.00000071813"/>
</inertial>
</link>
<gazebo reference="l_finger_2_link_median_actuating_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link median bar -->
<link name="l_finger_2_link_median_bar">
<visual>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01905 -0.00107 0"/>
<mass value="0.00538"/>
<inertia ixx="0.00000006639" ixy="-0.00000010996" ixz="0.00000000094" iyy="0.00000305318" iyz="0" izz="0.00000304657"/>
</inertial>
</link>
<gazebo reference="l_finger_2_link_median_bar">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paramedian hinge -->
<link name="l_finger_2_link_paramedian_hinge">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.01025 0.00046 0"/>
<mass value="0.00276"/>
<inertia ixx="0.00000004213" ixy="-0.00000001491" ixz="0" iyy="0.00000050258" iyz="0" izz="0.00000054007"/>
</inertial>
</link>
<gazebo reference="l_finger_2_link_paramedian_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link median bar underactuated -->
<link name="l_finger_2_link_median_bar_underactuated">
<visual>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01905 -0.00107 0"/>
<mass value="0.00538"/>
<inertia ixx="0.00000006639" ixy="-0.00000010996" ixz="-0.00000000094" iyy="0.00000305318" iyz="0" izz="0.00000304657"/>
</inertial>
</link>
<gazebo reference="l_finger_2_link_median_bar_underactuated">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paradistal hinge -->
<link name="l_finger_2_link_paradistal_hinge">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 0.02 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.00548 0 0"/>
<mass value="0.00158"/>
<inertia ixx="0.00000001907" ixy="0" ixz="0" iyy="0.00000010970" iyz="0" izz="0.00000012610"/>
</inertial>
</link>
<gazebo reference="l_finger_2_link_paradistal_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- End of link list -->
<!-- Joint list -->
<!-- Joint proximal actuating hinge -->
<joint name="l_finger_2_joint_proximal_actuating_hinge" type="revolute">
<parent link="l_finger_2_link_0"/>
<child link="l_finger_2_link_proximal_actuating_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 -2.0906" xyz="0 0 0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_2_joint_proximal_actuating_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paraproximal actuating hinge -->
<joint name="l_finger_2_joint_paraproximal_actuating_hinge" type="revolute">
<parent link="l_finger_2_link_0"/>
<child link="l_finger_2_link_paraproximal_actuating_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 -2.0906" xyz="0 0 -0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_2_joint_paraproximal_actuating_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint proximal actuating bar -->
<joint name="l_finger_2_joint_proximal_actuating_bar" type="revolute">
<parent link="l_finger_2_link_proximal_actuating_hinge"/>
<child link="l_finger_2_link_proximal_actuating_bar"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 1.8616" xyz="0.02858 0 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_2_joint_proximal_actuating_bar">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paraproximal bar -->
<joint name="l_finger_2_joint_paraproximal_bar" type="revolute">
<parent link="l_finger_2_link_paraproximal_actuating_hinge"/>
<child link="l_finger_2_link_paraproximal_bar"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 1.57" xyz="0.02286 0 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_2_joint_paraproximal_bar">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint median actuating hinge -->
<joint name="l_finger_2_joint_median_actuating_hinge" type="revolute">
<parent link="l_finger_2_link_1"/>
<child link="l_finger_2_link_median_actuating_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 -0.37" xyz="0 0.05715 0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_2_joint_median_actuating_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paramedian hinge -->
<joint name="l_finger_2_joint_paramedian_hinge" type="revolute">
<parent link="l_finger_2_link_1"/>
<child link="l_finger_2_link_paramedian_hinge"/>
<axis xyz="0 0 1"/>
<!-- -0.37 is hand picked, 0.9719 is hand calculated from atan(0.02381/0.01625) -->
<origin rpy="0 0 0" xyz="0 0.05715 -0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_2_joint_paramedian_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint median actuating hinge median bar -->
<joint name="l_finger_2_joint_median_actuating_hinge_median_bar" type="revolute">
<parent link="l_finger_2_link_median_actuating_hinge"/>
<child link="l_finger_2_link_median_bar"/>
<axis xyz="0 0 1"/>
<!-- hand calc 90 deg + atan(0.01516/0.01625) -->
<origin rpy="0 0 2.3215" xyz="0.01625 0.01516 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_2_joint_median_actuating_hinge_median_bar">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paradistal hinge -->
<joint name="l_finger_2_joint_paradistal_hinge" type="revolute">
<parent link="l_finger_2_link_2"/>
<child link="l_finger_2_link_paradistal_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 0" xyz="0 0.039 -0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_2_joint_paradistal_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paramedian hinge median bar underactuated -->
<joint name="l_finger_2_joint_paramedian_hinge_median_bar_underactuated" type="revolute">
<parent link="l_finger_2_link_paramedian_hinge"/>
<child link="l_finger_2_link_median_bar_underactuated"/>
<axis xyz="0 0 1"/>
<!-- hand calc 90 deg + atan(0.01227/0.00329) -->
<origin rpy="0 0 1.5708" xyz="0.01227 0.00329 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_2_joint_paramedian_hinge_median_bar_underactuated">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint 1 -->
<joint name="l_finger_2_joint_1" type="revolute">
<origin rpy="0 0 -2.0906" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
<parent link="l_finger_2_link_0"/>
<child link="l_finger_2_link_1"/>
<dynamics damping="1" friction="0"/>
<!-- Limits: [0deg.,70deg.] -->
<limit effort="60" lower="0" upper="1.2217" velocity="-1"/>
</joint>
<gazebo reference="l_finger_2_joint_1">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint 2 -->
<joint name="l_finger_2_joint_2" type="revolute">
<parent link="l_finger_2_link_1"/>
<child link="l_finger_2_link_2"/>
<dynamics damping="1" friction="0"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 0" xyz="0 0.05715 0"/>
<!-- Limits: [0deg.,90deg.] -->
<limit effort="60" lower="0" upper="1.5708" velocity="-1"/>
</joint>
<gazebo reference="l_finger_2_joint_2">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint 3 -->
<joint name="l_finger_2_joint_3" type="revolute">
<parent link="l_finger_2_link_2"/>
<child link="l_finger_2_link_3"/>
<dynamics damping="1" friction="0"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 2.0906" xyz="0 0.039 0"/>
<!-- Limits: [-38deg.,60deg.] -->
<limit effort="60" lower="-0.6632" upper="1.0471" velocity="-1"/>
</joint>
<gazebo reference="l_finger_2_joint_3">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- end of joint list -->
<!-- coupling joints in sdf -->
<gazebo>
<joint name="l_finger_2_link_proximal_actuating_bar_median_actuating_hinge_couple" type="revolute">
<parent>l_finger_2_link_median_actuating_hinge</parent>
<child>l_finger_2_link_proximal_actuating_bar</child>
<pose>0.05398 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="l_finger_2_link_proximal_actuating_bar_median_actuating_hinge_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="l_finger_2_link_median_bar_link_3_couple" type="revolute">
<parent>l_finger_2_link_3</parent>
<child>l_finger_2_link_median_bar</child>
<pose>0.0381 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="l_finger_2_link_median_bar_link_3_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="l_finger_2_link_paramedian_bar_paradistal_hinge_couple" type="revolute">
<parent>l_finger_2_link_paradistal_hinge</parent>
<child>l_finger_2_link_median_bar_underactuated</child>
<pose>0.0381 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="l_finger_2_link_median_bar_link_3_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="l_finger_2_link_paradistal_hinge_link_3_couple" type="revolute">
<parent>l_finger_2_link_paradistal_hinge</parent>
<child>l_finger_2_link_3</child>
<pose>0.0381 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="l_finger_2_link_paradistal_hinge_link_3_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="l_finger_2_link_paraproximal_bar_paramedian_hinge_couple" type="revolute">
<parent>l_finger_2_link_paramedian_hinge</parent>
<child>l_finger_2_link_paraproximal_bar</child>
<pose>0.05770 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="l_finger_2_link_paraproximal_bar_paramedian_hinge_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Link list -->
<!-- Link 0 -->
<link name="l_finger_middle_link_0">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_0.STL"/>
</geometry>
<material name="green">
<color rgba="0 1 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_0.STL"/>
</geometry>
<material name="yellow">
<color rgba="0 1 1 1"/>
</material>
</collision>
<inertial>
<mass value="0.1"/>
<origin xyz="-0.01 0 0"/>
<inertia ixx="0.000018" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<gazebo reference="l_finger_middle_link_0">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link 1 -->
<link name="l_finger_middle_link_1">
<visual>
<origin rpy="0 0 1.5708" xyz="0 0.05717 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_1.STL"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 1.5708" xyz="0 0.05717 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_1.STL"/>
</geometry>
<material name="yellow">
<color rgba="0 1 1 1"/>
</material>
</collision>
<inertial>
<origin rpy="0 0 1.5708" xyz="0.00053 0.03218 0"/>
<mass value="0.047"/>
<inertia ixx="0.00000499332" ixy="0.00000091312" ixz="-0.00000000120" iyy="0.00006434531" iyz="-0.00000000007" izz="0.00006061917"/>
</inertial>
</link>
<gazebo reference="l_finger_middle_link_1">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link 2 -->
<link name="l_finger_middle_link_2">
<visual>
<origin rpy="0 0 1.5708" xyz="0 0.03810 0.0075"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_2.STL"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 1.5708" xyz="0 0.03810 0.0075"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_2.STL"/>
</geometry>
<material name="yellow"/>
</collision>
<inertial>
<origin rpy="0 0 1.5708" xyz="0.00048 0.02167 0.00018"/>
<mass value="0.03284"/>
<inertia ixx="0.00000348008" ixy="0.00000031940" ixz="0.00000013041" iyy="0.00002248123" iyz="0.00000000291" izz="0.00001986346"/>
</inertial>
</link>
<gazebo reference="l_finger_middle_link_2">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link 3 -->
<link name="l_finger_middle_link_3">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_3.STL"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_3.STL"/>
</geometry>
<material name="yellow"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01626 0.00049 0.0002"/>
<mass value="0.03354"/>
<inertia ixx="0.00000305151" ixy="0.00000089792" ixz="0.00000000249" iyy="0.00001427978" iyz="-0.00000001191" izz="0.00001264126"/>
</inertial>
</link>
<gazebo reference="l_finger_middle_link_3">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link proximal actuating hinge -->
<link name="l_finger_middle_link_proximal_actuating_hinge">
<visual>
<origin rpy="0 0 0" xyz="0.01429 0 0"/>
<geometry>
<box size="0.02858 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01429 0 0"/>
<geometry>
<box size="0.02858 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0012 -0.00162 -0.00161"/>
<mass value="0.02647"/>
<inertia ixx="0.00000156447" ixy="0.000000236226" ixz="-0.00000014862" iyy="0.00000221068" iyz="-0.00000014369" izz="0.00000323175"/>
</inertial>
</link>
<gazebo reference="l_finger_middle_link_proximal_actuating_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paraproximal actuating hinge -->
<link name="l_finger_middle_link_paraproximal_actuating_hinge">
<visual>
<origin rpy="0 0 0" xyz="0.01143 0 0"/>
<geometry>
<box size="0.02286 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01143 0 0"/>
<geometry>
<box size="0.02286 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0064 0 0"/>
<!-- copied from proximal_actuating_hinge -->
<mass value="0.00362"/>
<inertia ixx="0.00000012043" ixy="0" ixz="0" iyy="0.00000053588" iyz="0" izz="0.00000065322"/>
</inertial>
</link>
<gazebo reference="l_finger_middle_link_paraproximal_actuating_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link proximal actuating bar -->
<link name="l_finger_middle_link_proximal_actuating_bar">
<visual>
<origin rpy="0 0 0" xyz="0.026789 0 0"/>
<geometry>
<box size="0.05398 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.026789 0 0"/>
<geometry>
<box size="0.05398 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.02699 -0.00122 0"/>
<mass value="0.00659"/>
<inertia ixx="0.00000008348" ixy="-0.0000002179" ixz="0.00000000134" iyy="0.00000719076" iyz="0" izz="0.00000718272"/>
</inertial>
</link>
<gazebo reference="l_finger_middle_link_proximal_actuating_bar">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paraproximal bar -->
<link name="l_finger_middle_link_paraproximal_bar">
<visual>
<origin rpy="0 0 0" xyz="0.02885 0 0"/>
<geometry>
<box size="0.05770 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.02885 0 0"/>
<geometry>
<box size="0.05770 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.02858 -0.00129 0"/>
<mass value="0.00732"/>
<inertia ixx="0.00000009065" ixy="-0.00000027047" ixz="0.00000000142" iyy="0.00000878034" iyz="0" izz="0.00000877558"/>
</inertial>
</link>
<gazebo reference="l_finger_middle_link_paraproximal_bar">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link median actuating hinge -->
<link name="l_finger_middle_link_median_actuating_hinge">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0092 0.00514 0"/>
<mass value="0.00359"/>
<inertia ixx="0.00000024735" ixy="0.00000023619" ixz="0" iyy="0.00000047681" iyz="0" izz="0.00000071813"/>
</inertial>
</link>
<gazebo reference="l_finger_middle_link_median_actuating_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link median bar -->
<link name="l_finger_middle_link_median_bar">
<visual>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01905 -0.00107 0"/>
<mass value="0.00538"/>
<inertia ixx="0.00000006639" ixy="-0.00000010996" ixz="0.00000000094" iyy="0.00000305318" iyz="0" izz="0.00000304657"/>
</inertial>
</link>
<gazebo reference="l_finger_middle_link_median_bar">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paramedian hinge -->
<link name="l_finger_middle_link_paramedian_hinge">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.01025 0.00046 0"/>
<mass value="0.00276"/>
<inertia ixx="0.00000004213" ixy="-0.00000001491" ixz="0" iyy="0.00000050258" iyz="0" izz="0.00000054007"/>
</inertial>
</link>
<gazebo reference="l_finger_middle_link_paramedian_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link median bar underactuated -->
<link name="l_finger_middle_link_median_bar_underactuated">
<visual>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01905 -0.00107 0"/>
<mass value="0.00538"/>
<inertia ixx="0.00000006639" ixy="-0.00000010996" ixz="-0.00000000094" iyy="0.00000305318" iyz="0" izz="0.00000304657"/>
</inertial>
</link>
<gazebo reference="l_finger_middle_link_median_bar_underactuated">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paradistal hinge -->
<link name="l_finger_middle_link_paradistal_hinge">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 0.02 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.00548 0 0"/>
<mass value="0.00158"/>
<inertia ixx="0.00000001907" ixy="0" ixz="0" iyy="0.00000010970" iyz="0" izz="0.00000012610"/>
</inertial>
</link>
<gazebo reference="l_finger_middle_link_paradistal_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- End of link list -->
<!-- Joint list -->
<!-- Joint proximal actuating hinge -->
<joint name="l_finger_middle_joint_proximal_actuating_hinge" type="revolute">
<parent link="l_finger_middle_link_0"/>
<child link="l_finger_middle_link_proximal_actuating_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 -2.0906" xyz="0 0 0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_middle_joint_proximal_actuating_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paraproximal actuating hinge -->
<joint name="l_finger_middle_joint_paraproximal_actuating_hinge" type="revolute">
<parent link="l_finger_middle_link_0"/>
<child link="l_finger_middle_link_paraproximal_actuating_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 -2.0906" xyz="0 0 -0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_middle_joint_paraproximal_actuating_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint proximal actuating bar -->
<joint name="l_finger_middle_joint_proximal_actuating_bar" type="revolute">
<parent link="l_finger_middle_link_proximal_actuating_hinge"/>
<child link="l_finger_middle_link_proximal_actuating_bar"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 1.8616" xyz="0.02858 0 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_middle_joint_proximal_actuating_bar">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paraproximal bar -->
<joint name="l_finger_middle_joint_paraproximal_bar" type="revolute">
<parent link="l_finger_middle_link_paraproximal_actuating_hinge"/>
<child link="l_finger_middle_link_paraproximal_bar"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 1.57" xyz="0.02286 0 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_middle_joint_paraproximal_bar">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint median actuating hinge -->
<joint name="l_finger_middle_joint_median_actuating_hinge" type="revolute">
<parent link="l_finger_middle_link_1"/>
<child link="l_finger_middle_link_median_actuating_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 -0.37" xyz="0 0.05715 0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_middle_joint_median_actuating_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paramedian hinge -->
<joint name="l_finger_middle_joint_paramedian_hinge" type="revolute">
<parent link="l_finger_middle_link_1"/>
<child link="l_finger_middle_link_paramedian_hinge"/>
<axis xyz="0 0 1"/>
<!-- -0.37 is hand picked, 0.9719 is hand calculated from atan(0.02381/0.01625) -->
<origin rpy="0 0 0" xyz="0 0.05715 -0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_middle_joint_paramedian_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint median actuating hinge median bar -->
<joint name="l_finger_middle_joint_median_actuating_hinge_median_bar" type="revolute">
<parent link="l_finger_middle_link_median_actuating_hinge"/>
<child link="l_finger_middle_link_median_bar"/>
<axis xyz="0 0 1"/>
<!-- hand calc 90 deg + atan(0.01516/0.01625) -->
<origin rpy="0 0 2.3215" xyz="0.01625 0.01516 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_middle_joint_median_actuating_hinge_median_bar">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paradistal hinge -->
<joint name="l_finger_middle_joint_paradistal_hinge" type="revolute">
<parent link="l_finger_middle_link_2"/>
<child link="l_finger_middle_link_paradistal_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 0" xyz="0 0.039 -0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_middle_joint_paradistal_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paramedian hinge median bar underactuated -->
<joint name="l_finger_middle_joint_paramedian_hinge_median_bar_underactuated" type="revolute">
<parent link="l_finger_middle_link_paramedian_hinge"/>
<child link="l_finger_middle_link_median_bar_underactuated"/>
<axis xyz="0 0 1"/>
<!-- hand calc 90 deg + atan(0.01227/0.00329) -->
<origin rpy="0 0 1.5708" xyz="0.01227 0.00329 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_middle_joint_paramedian_hinge_median_bar_underactuated">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint 1 -->
<joint name="l_finger_middle_joint_1" type="revolute">
<origin rpy="0 0 -2.0906" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
<parent link="l_finger_middle_link_0"/>
<child link="l_finger_middle_link_1"/>
<dynamics damping="1" friction="0"/>
<!-- Limits: [0deg.,70deg.] -->
<limit effort="60" lower="0" upper="1.2217" velocity="-1"/>
</joint>
<gazebo reference="l_finger_middle_joint_1">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint 2 -->
<joint name="l_finger_middle_joint_2" type="revolute">
<parent link="l_finger_middle_link_1"/>
<child link="l_finger_middle_link_2"/>
<dynamics damping="1" friction="0"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 0" xyz="0 0.05715 0"/>
<!-- Limits: [0deg.,90deg.] -->
<limit effort="60" lower="0" upper="1.5708" velocity="-1"/>
</joint>
<gazebo reference="l_finger_middle_joint_2">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint 3 -->
<joint name="l_finger_middle_joint_3" type="revolute">
<parent link="l_finger_middle_link_2"/>
<child link="l_finger_middle_link_3"/>
<dynamics damping="1" friction="0"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 2.0906" xyz="0 0.039 0"/>
<!-- Limits: [-38deg.,60deg.] -->
<limit effort="60" lower="-0.6632" upper="1.0471" velocity="-1"/>
</joint>
<gazebo reference="l_finger_middle_joint_3">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- end of joint list -->
<!-- coupling joints in sdf -->
<gazebo>
<joint name="l_finger_middle_link_proximal_actuating_bar_median_actuating_hinge_couple" type="revolute">
<parent>l_finger_middle_link_median_actuating_hinge</parent>
<child>l_finger_middle_link_proximal_actuating_bar</child>
<pose>0.05398 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="l_finger_middle_link_proximal_actuating_bar_median_actuating_hinge_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="l_finger_middle_link_median_bar_link_3_couple" type="revolute">
<parent>l_finger_middle_link_3</parent>
<child>l_finger_middle_link_median_bar</child>
<pose>0.0381 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="l_finger_middle_link_median_bar_link_3_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="l_finger_middle_link_paramedian_bar_paradistal_hinge_couple" type="revolute">
<parent>l_finger_middle_link_paradistal_hinge</parent>
<child>l_finger_middle_link_median_bar_underactuated</child>
<pose>0.0381 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="l_finger_middle_link_median_bar_link_3_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="l_finger_middle_link_paradistal_hinge_link_3_couple" type="revolute">
<parent>l_finger_middle_link_paradistal_hinge</parent>
<child>l_finger_middle_link_3</child>
<pose>0.0381 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="l_finger_middle_link_paradistal_hinge_link_3_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="l_finger_middle_link_paraproximal_bar_paramedian_hinge_couple" type="revolute">
<parent>l_finger_middle_link_paramedian_hinge</parent>
<child>l_finger_middle_link_paraproximal_bar</child>
<pose>0.05770 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="l_finger_middle_link_paraproximal_bar_paramedian_hinge_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- link list -->
<!-- Link palm -->
<link name="l_palm">
<visual>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/palm.STL"/>
</geometry>
<material name="green">
<color rgba="0 1 0 1"/>
</material>
</visual>
<!-- Simple shape collision -->
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.1 0.1 0.1"/>
</geometry>
<material name="yellow">
<color rgba="0 1 1 1"/>
</material>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="1.3"/>
<inertia ixx="0.0035" ixy="0" ixz="-0" iyy="0.0035" iyz="0" izz="0.0035"/>
</inertial>
</link>
<gazebo reference="l_palm">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- End of link list -->
<!-- Joint list -->
<!-- Joint palm_finger_1_joint -->
<joint name="l_palm_finger_1_joint" type="revolute">
<parent link="l_palm"/>
<child link="l_finger_1_link_0"/>
<dynamics damping="1" friction="0"/>
<axis xyz="0 1 0"/>
<origin rpy="0 3.1416 -1.57" xyz="-0.0455 0.0214 0.036"/>
<!-- Limits: [-17deg.,17deg.] -->
<limit effort="60" lower="-0.2967" upper="0.2967" velocity="-1"/>
</joint>
<gazebo reference="l_palm_finger_1_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint palm_finger_2_joint -->
<joint name="l_palm_finger_2_joint" type="revolute">
<parent link="l_palm"/>
<child link="l_finger_2_link_0"/>
<dynamics damping="1" friction="0"/>
<axis xyz="0 1 0"/>
<origin rpy="0 3.1416 -1.57" xyz="-0.0455 0.0214 -0.036"/>
<!-- Limits: [-17deg.,17deg.] -->
<limit effort="60" lower="-0.2967" upper="0.2967" velocity="-1"/>
</joint>
<gazebo reference="l_palm_finger_2_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint palm_finger_middle_joint -->
<joint name="l_palm_finger_middle_joint" type="revolute">
<parent link="l_palm"/>
<child link="l_finger_middle_link_0"/>
<dynamics damping="1" friction="0"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 1.57" xyz="0.0455 0.0214 0"/>
<limit effort="60" lower="0" upper="0" velocity="-1"/>
</joint>
<gazebo reference="l_palm_finger_middle_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- end of joint list -->
<!-- joint attaching parent link to robotiq hand -->
<joint name="r_robotiq_hand_joint" type="fixed">
<origin rpy="1.57 0 2.355" xyz="0 0 0.05398"/>
<parent link="r_robotiq_fts300_fts_toolside"/>
<child link="r_palm"/>
</joint>
<!-- Insert the fingers -->
<!-- Link list -->
<!-- Link 0 -->
<link name="r_finger_1_link_0">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_0.STL"/>
</geometry>
<material name="green">
<color rgba="0 1 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_0.STL"/>
</geometry>
<material name="yellow">
<color rgba="0 1 1 1"/>
</material>
</collision>
<inertial>
<mass value="0.1"/>
<origin xyz="-0.01 0 0"/>
<inertia ixx="0.000018" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<gazebo reference="r_finger_1_link_0">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link 1 -->
<link name="r_finger_1_link_1">
<visual>
<origin rpy="0 0 1.5708" xyz="0 0.05717 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_1.STL"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 1.5708" xyz="0 0.05717 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_1.STL"/>
</geometry>
<material name="yellow">
<color rgba="0 1 1 1"/>
</material>
</collision>
<inertial>
<origin rpy="0 0 1.5708" xyz="0.00053 0.03218 0"/>
<mass value="0.047"/>
<inertia ixx="0.00000499332" ixy="0.00000091312" ixz="-0.00000000120" iyy="0.00006434531" iyz="-0.00000000007" izz="0.00006061917"/>
</inertial>
</link>
<gazebo reference="r_finger_1_link_1">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link 2 -->
<link name="r_finger_1_link_2">
<visual>
<origin rpy="0 0 1.5708" xyz="0 0.03810 0.0075"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_2.STL"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 1.5708" xyz="0 0.03810 0.0075"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_2.STL"/>
</geometry>
<material name="yellow"/>
</collision>
<inertial>
<origin rpy="0 0 1.5708" xyz="0.00048 0.02167 0.00018"/>
<mass value="0.03284"/>
<inertia ixx="0.00000348008" ixy="0.00000031940" ixz="0.00000013041" iyy="0.00002248123" iyz="0.00000000291" izz="0.00001986346"/>
</inertial>
</link>
<gazebo reference="r_finger_1_link_2">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link 3 -->
<link name="r_finger_1_link_3">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_3.STL"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_3.STL"/>
</geometry>
<material name="yellow"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01626 0.00049 0.0002"/>
<mass value="0.03354"/>
<inertia ixx="0.00000305151" ixy="0.00000089792" ixz="0.00000000249" iyy="0.00001427978" iyz="-0.00000001191" izz="0.00001264126"/>
</inertial>
</link>
<gazebo reference="r_finger_1_link_3">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link proximal actuating hinge -->
<link name="r_finger_1_link_proximal_actuating_hinge">
<visual>
<origin rpy="0 0 0" xyz="0.01429 0 0"/>
<geometry>
<box size="0.02858 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01429 0 0"/>
<geometry>
<box size="0.02858 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0012 -0.00162 -0.00161"/>
<mass value="0.02647"/>
<inertia ixx="0.00000156447" ixy="0.000000236226" ixz="-0.00000014862" iyy="0.00000221068" iyz="-0.00000014369" izz="0.00000323175"/>
</inertial>
</link>
<gazebo reference="r_finger_1_link_proximal_actuating_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paraproximal actuating hinge -->
<link name="r_finger_1_link_paraproximal_actuating_hinge">
<visual>
<origin rpy="0 0 0" xyz="0.01143 0 0"/>
<geometry>
<box size="0.02286 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01143 0 0"/>
<geometry>
<box size="0.02286 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0064 0 0"/>
<!-- copied from proximal_actuating_hinge -->
<mass value="0.00362"/>
<inertia ixx="0.00000012043" ixy="0" ixz="0" iyy="0.00000053588" iyz="0" izz="0.00000065322"/>
</inertial>
</link>
<gazebo reference="r_finger_1_link_paraproximal_actuating_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link proximal actuating bar -->
<link name="r_finger_1_link_proximal_actuating_bar">
<visual>
<origin rpy="0 0 0" xyz="0.026789 0 0"/>
<geometry>
<box size="0.05398 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.026789 0 0"/>
<geometry>
<box size="0.05398 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.02699 -0.00122 0"/>
<mass value="0.00659"/>
<inertia ixx="0.00000008348" ixy="-0.0000002179" ixz="0.00000000134" iyy="0.00000719076" iyz="0" izz="0.00000718272"/>
</inertial>
</link>
<gazebo reference="r_finger_1_link_proximal_actuating_bar">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paraproximal bar -->
<link name="r_finger_1_link_paraproximal_bar">
<visual>
<origin rpy="0 0 0" xyz="0.02885 0 0"/>
<geometry>
<box size="0.05770 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.02885 0 0"/>
<geometry>
<box size="0.05770 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.02858 -0.00129 0"/>
<mass value="0.00732"/>
<inertia ixx="0.00000009065" ixy="-0.00000027047" ixz="0.00000000142" iyy="0.00000878034" iyz="0" izz="0.00000877558"/>
</inertial>
</link>
<gazebo reference="r_finger_1_link_paraproximal_bar">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link median actuating hinge -->
<link name="r_finger_1_link_median_actuating_hinge">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0092 0.00514 0"/>
<mass value="0.00359"/>
<inertia ixx="0.00000024735" ixy="0.00000023619" ixz="0" iyy="0.00000047681" iyz="0" izz="0.00000071813"/>
</inertial>
</link>
<gazebo reference="r_finger_1_link_median_actuating_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link median bar -->
<link name="r_finger_1_link_median_bar">
<visual>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01905 -0.00107 0"/>
<mass value="0.00538"/>
<inertia ixx="0.00000006639" ixy="-0.00000010996" ixz="0.00000000094" iyy="0.00000305318" iyz="0" izz="0.00000304657"/>
</inertial>
</link>
<gazebo reference="r_finger_1_link_median_bar">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paramedian hinge -->
<link name="r_finger_1_link_paramedian_hinge">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.01025 0.00046 0"/>
<mass value="0.00276"/>
<inertia ixx="0.00000004213" ixy="-0.00000001491" ixz="0" iyy="0.00000050258" iyz="0" izz="0.00000054007"/>
</inertial>
</link>
<gazebo reference="r_finger_1_link_paramedian_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link median bar underactuated -->
<link name="r_finger_1_link_median_bar_underactuated">
<visual>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01905 -0.00107 0"/>
<mass value="0.00538"/>
<inertia ixx="0.00000006639" ixy="-0.00000010996" ixz="-0.00000000094" iyy="0.00000305318" iyz="0" izz="0.00000304657"/>
</inertial>
</link>
<gazebo reference="r_finger_1_link_median_bar_underactuated">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paradistal hinge -->
<link name="r_finger_1_link_paradistal_hinge">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 0.02 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.00548 0 0"/>
<mass value="0.00158"/>
<inertia ixx="0.00000001907" ixy="0" ixz="0" iyy="0.00000010970" iyz="0" izz="0.00000012610"/>
</inertial>
</link>
<gazebo reference="r_finger_1_link_paradistal_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- End of link list -->
<!-- Joint list -->
<!-- Joint proximal actuating hinge -->
<joint name="r_finger_1_joint_proximal_actuating_hinge" type="revolute">
<parent link="r_finger_1_link_0"/>
<child link="r_finger_1_link_proximal_actuating_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 -2.0906" xyz="0 0 0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_1_joint_proximal_actuating_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paraproximal actuating hinge -->
<joint name="r_finger_1_joint_paraproximal_actuating_hinge" type="revolute">
<parent link="r_finger_1_link_0"/>
<child link="r_finger_1_link_paraproximal_actuating_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 -2.0906" xyz="0 0 -0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_1_joint_paraproximal_actuating_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint proximal actuating bar -->
<joint name="r_finger_1_joint_proximal_actuating_bar" type="revolute">
<parent link="r_finger_1_link_proximal_actuating_hinge"/>
<child link="r_finger_1_link_proximal_actuating_bar"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 1.8616" xyz="0.02858 0 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_1_joint_proximal_actuating_bar">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paraproximal bar -->
<joint name="r_finger_1_joint_paraproximal_bar" type="revolute">
<parent link="r_finger_1_link_paraproximal_actuating_hinge"/>
<child link="r_finger_1_link_paraproximal_bar"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 1.57" xyz="0.02286 0 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_1_joint_paraproximal_bar">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint median actuating hinge -->
<joint name="r_finger_1_joint_median_actuating_hinge" type="revolute">
<parent link="r_finger_1_link_1"/>
<child link="r_finger_1_link_median_actuating_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 -0.37" xyz="0 0.05715 0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_1_joint_median_actuating_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paramedian hinge -->
<joint name="r_finger_1_joint_paramedian_hinge" type="revolute">
<parent link="r_finger_1_link_1"/>
<child link="r_finger_1_link_paramedian_hinge"/>
<axis xyz="0 0 1"/>
<!-- -0.37 is hand picked, 0.9719 is hand calculated from atan(0.02381/0.01625) -->
<origin rpy="0 0 0" xyz="0 0.05715 -0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_1_joint_paramedian_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint median actuating hinge median bar -->
<joint name="r_finger_1_joint_median_actuating_hinge_median_bar" type="revolute">
<parent link="r_finger_1_link_median_actuating_hinge"/>
<child link="r_finger_1_link_median_bar"/>
<axis xyz="0 0 1"/>
<!-- hand calc 90 deg + atan(0.01516/0.01625) -->
<origin rpy="0 0 2.3215" xyz="0.01625 0.01516 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_1_joint_median_actuating_hinge_median_bar">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paradistal hinge -->
<joint name="r_finger_1_joint_paradistal_hinge" type="revolute">
<parent link="r_finger_1_link_2"/>
<child link="r_finger_1_link_paradistal_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 0" xyz="0 0.039 -0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_1_joint_paradistal_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paramedian hinge median bar underactuated -->
<joint name="r_finger_1_joint_paramedian_hinge_median_bar_underactuated" type="revolute">
<parent link="r_finger_1_link_paramedian_hinge"/>
<child link="r_finger_1_link_median_bar_underactuated"/>
<axis xyz="0 0 1"/>
<!-- hand calc 90 deg + atan(0.01227/0.00329) -->
<origin rpy="0 0 1.5708" xyz="0.01227 0.00329 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_1_joint_paramedian_hinge_median_bar_underactuated">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint 1 -->
<joint name="r_finger_1_joint_1" type="revolute">
<origin rpy="0 0 -2.0906" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
<parent link="r_finger_1_link_0"/>
<child link="r_finger_1_link_1"/>
<dynamics damping="1" friction="0"/>
<!-- Limits: [0deg.,70deg.] -->
<limit effort="60" lower="0" upper="1.2217" velocity="-1"/>
</joint>
<gazebo reference="r_finger_1_joint_1">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint 2 -->
<joint name="r_finger_1_joint_2" type="revolute">
<parent link="r_finger_1_link_1"/>
<child link="r_finger_1_link_2"/>
<dynamics damping="1" friction="0"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 0" xyz="0 0.05715 0"/>
<!-- Limits: [0deg.,90deg.] -->
<limit effort="60" lower="0" upper="1.5708" velocity="-1"/>
</joint>
<gazebo reference="r_finger_1_joint_2">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint 3 -->
<joint name="r_finger_1_joint_3" type="revolute">
<parent link="r_finger_1_link_2"/>
<child link="r_finger_1_link_3"/>
<dynamics damping="1" friction="0"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 2.0906" xyz="0 0.039 0"/>
<!-- Limits: [-38deg.,60deg.] -->
<limit effort="60" lower="-0.6632" upper="1.0471" velocity="-1"/>
</joint>
<gazebo reference="r_finger_1_joint_3">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- end of joint list -->
<!-- coupling joints in sdf -->
<gazebo>
<joint name="r_finger_1_link_proximal_actuating_bar_median_actuating_hinge_couple" type="revolute">
<parent>r_finger_1_link_median_actuating_hinge</parent>
<child>r_finger_1_link_proximal_actuating_bar</child>
<pose>0.05398 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="r_finger_1_link_proximal_actuating_bar_median_actuating_hinge_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="r_finger_1_link_median_bar_link_3_couple" type="revolute">
<parent>r_finger_1_link_3</parent>
<child>r_finger_1_link_median_bar</child>
<pose>0.0381 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="r_finger_1_link_median_bar_link_3_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="r_finger_1_link_paramedian_bar_paradistal_hinge_couple" type="revolute">
<parent>r_finger_1_link_paradistal_hinge</parent>
<child>r_finger_1_link_median_bar_underactuated</child>
<pose>0.0381 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="r_finger_1_link_median_bar_link_3_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="r_finger_1_link_paradistal_hinge_link_3_couple" type="revolute">
<parent>r_finger_1_link_paradistal_hinge</parent>
<child>r_finger_1_link_3</child>
<pose>0.0381 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="r_finger_1_link_paradistal_hinge_link_3_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="r_finger_1_link_paraproximal_bar_paramedian_hinge_couple" type="revolute">
<parent>r_finger_1_link_paramedian_hinge</parent>
<child>r_finger_1_link_paraproximal_bar</child>
<pose>0.05770 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="r_finger_1_link_paraproximal_bar_paramedian_hinge_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Link list -->
<!-- Link 0 -->
<link name="r_finger_2_link_0">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_0.STL"/>
</geometry>
<material name="green">
<color rgba="0 1 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_0.STL"/>
</geometry>
<material name="yellow">
<color rgba="0 1 1 1"/>
</material>
</collision>
<inertial>
<mass value="0.1"/>
<origin xyz="-0.01 0 0"/>
<inertia ixx="0.000018" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<gazebo reference="r_finger_2_link_0">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link 1 -->
<link name="r_finger_2_link_1">
<visual>
<origin rpy="0 0 1.5708" xyz="0 0.05717 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_1.STL"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 1.5708" xyz="0 0.05717 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_1.STL"/>
</geometry>
<material name="yellow">
<color rgba="0 1 1 1"/>
</material>
</collision>
<inertial>
<origin rpy="0 0 1.5708" xyz="0.00053 0.03218 0"/>
<mass value="0.047"/>
<inertia ixx="0.00000499332" ixy="0.00000091312" ixz="-0.00000000120" iyy="0.00006434531" iyz="-0.00000000007" izz="0.00006061917"/>
</inertial>
</link>
<gazebo reference="r_finger_2_link_1">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link 2 -->
<link name="r_finger_2_link_2">
<visual>
<origin rpy="0 0 1.5708" xyz="0 0.03810 0.0075"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_2.STL"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 1.5708" xyz="0 0.03810 0.0075"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_2.STL"/>
</geometry>
<material name="yellow"/>
</collision>
<inertial>
<origin rpy="0 0 1.5708" xyz="0.00048 0.02167 0.00018"/>
<mass value="0.03284"/>
<inertia ixx="0.00000348008" ixy="0.00000031940" ixz="0.00000013041" iyy="0.00002248123" iyz="0.00000000291" izz="0.00001986346"/>
</inertial>
</link>
<gazebo reference="r_finger_2_link_2">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link 3 -->
<link name="r_finger_2_link_3">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_3.STL"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_3.STL"/>
</geometry>
<material name="yellow"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01626 0.00049 0.0002"/>
<mass value="0.03354"/>
<inertia ixx="0.00000305151" ixy="0.00000089792" ixz="0.00000000249" iyy="0.00001427978" iyz="-0.00000001191" izz="0.00001264126"/>
</inertial>
</link>
<gazebo reference="r_finger_2_link_3">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link proximal actuating hinge -->
<link name="r_finger_2_link_proximal_actuating_hinge">
<visual>
<origin rpy="0 0 0" xyz="0.01429 0 0"/>
<geometry>
<box size="0.02858 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01429 0 0"/>
<geometry>
<box size="0.02858 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0012 -0.00162 -0.00161"/>
<mass value="0.02647"/>
<inertia ixx="0.00000156447" ixy="0.000000236226" ixz="-0.00000014862" iyy="0.00000221068" iyz="-0.00000014369" izz="0.00000323175"/>
</inertial>
</link>
<gazebo reference="r_finger_2_link_proximal_actuating_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paraproximal actuating hinge -->
<link name="r_finger_2_link_paraproximal_actuating_hinge">
<visual>
<origin rpy="0 0 0" xyz="0.01143 0 0"/>
<geometry>
<box size="0.02286 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01143 0 0"/>
<geometry>
<box size="0.02286 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0064 0 0"/>
<!-- copied from proximal_actuating_hinge -->
<mass value="0.00362"/>
<inertia ixx="0.00000012043" ixy="0" ixz="0" iyy="0.00000053588" iyz="0" izz="0.00000065322"/>
</inertial>
</link>
<gazebo reference="r_finger_2_link_paraproximal_actuating_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link proximal actuating bar -->
<link name="r_finger_2_link_proximal_actuating_bar">
<visual>
<origin rpy="0 0 0" xyz="0.026789 0 0"/>
<geometry>
<box size="0.05398 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.026789 0 0"/>
<geometry>
<box size="0.05398 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.02699 -0.00122 0"/>
<mass value="0.00659"/>
<inertia ixx="0.00000008348" ixy="-0.0000002179" ixz="0.00000000134" iyy="0.00000719076" iyz="0" izz="0.00000718272"/>
</inertial>
</link>
<gazebo reference="r_finger_2_link_proximal_actuating_bar">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paraproximal bar -->
<link name="r_finger_2_link_paraproximal_bar">
<visual>
<origin rpy="0 0 0" xyz="0.02885 0 0"/>
<geometry>
<box size="0.05770 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.02885 0 0"/>
<geometry>
<box size="0.05770 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.02858 -0.00129 0"/>
<mass value="0.00732"/>
<inertia ixx="0.00000009065" ixy="-0.00000027047" ixz="0.00000000142" iyy="0.00000878034" iyz="0" izz="0.00000877558"/>
</inertial>
</link>
<gazebo reference="r_finger_2_link_paraproximal_bar">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link median actuating hinge -->
<link name="r_finger_2_link_median_actuating_hinge">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0092 0.00514 0"/>
<mass value="0.00359"/>
<inertia ixx="0.00000024735" ixy="0.00000023619" ixz="0" iyy="0.00000047681" iyz="0" izz="0.00000071813"/>
</inertial>
</link>
<gazebo reference="r_finger_2_link_median_actuating_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link median bar -->
<link name="r_finger_2_link_median_bar">
<visual>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01905 -0.00107 0"/>
<mass value="0.00538"/>
<inertia ixx="0.00000006639" ixy="-0.00000010996" ixz="0.00000000094" iyy="0.00000305318" iyz="0" izz="0.00000304657"/>
</inertial>
</link>
<gazebo reference="r_finger_2_link_median_bar">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paramedian hinge -->
<link name="r_finger_2_link_paramedian_hinge">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.01025 0.00046 0"/>
<mass value="0.00276"/>
<inertia ixx="0.00000004213" ixy="-0.00000001491" ixz="0" iyy="0.00000050258" iyz="0" izz="0.00000054007"/>
</inertial>
</link>
<gazebo reference="r_finger_2_link_paramedian_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link median bar underactuated -->
<link name="r_finger_2_link_median_bar_underactuated">
<visual>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01905 -0.00107 0"/>
<mass value="0.00538"/>
<inertia ixx="0.00000006639" ixy="-0.00000010996" ixz="-0.00000000094" iyy="0.00000305318" iyz="0" izz="0.00000304657"/>
</inertial>
</link>
<gazebo reference="r_finger_2_link_median_bar_underactuated">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paradistal hinge -->
<link name="r_finger_2_link_paradistal_hinge">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 0.02 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.00548 0 0"/>
<mass value="0.00158"/>
<inertia ixx="0.00000001907" ixy="0" ixz="0" iyy="0.00000010970" iyz="0" izz="0.00000012610"/>
</inertial>
</link>
<gazebo reference="r_finger_2_link_paradistal_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- End of link list -->
<!-- Joint list -->
<!-- Joint proximal actuating hinge -->
<joint name="r_finger_2_joint_proximal_actuating_hinge" type="revolute">
<parent link="r_finger_2_link_0"/>
<child link="r_finger_2_link_proximal_actuating_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 -2.0906" xyz="0 0 0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_2_joint_proximal_actuating_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paraproximal actuating hinge -->
<joint name="r_finger_2_joint_paraproximal_actuating_hinge" type="revolute">
<parent link="r_finger_2_link_0"/>
<child link="r_finger_2_link_paraproximal_actuating_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 -2.0906" xyz="0 0 -0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_2_joint_paraproximal_actuating_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint proximal actuating bar -->
<joint name="r_finger_2_joint_proximal_actuating_bar" type="revolute">
<parent link="r_finger_2_link_proximal_actuating_hinge"/>
<child link="r_finger_2_link_proximal_actuating_bar"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 1.8616" xyz="0.02858 0 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_2_joint_proximal_actuating_bar">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paraproximal bar -->
<joint name="r_finger_2_joint_paraproximal_bar" type="revolute">
<parent link="r_finger_2_link_paraproximal_actuating_hinge"/>
<child link="r_finger_2_link_paraproximal_bar"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 1.57" xyz="0.02286 0 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_2_joint_paraproximal_bar">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint median actuating hinge -->
<joint name="r_finger_2_joint_median_actuating_hinge" type="revolute">
<parent link="r_finger_2_link_1"/>
<child link="r_finger_2_link_median_actuating_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 -0.37" xyz="0 0.05715 0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_2_joint_median_actuating_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paramedian hinge -->
<joint name="r_finger_2_joint_paramedian_hinge" type="revolute">
<parent link="r_finger_2_link_1"/>
<child link="r_finger_2_link_paramedian_hinge"/>
<axis xyz="0 0 1"/>
<!-- -0.37 is hand picked, 0.9719 is hand calculated from atan(0.02381/0.01625) -->
<origin rpy="0 0 0" xyz="0 0.05715 -0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_2_joint_paramedian_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint median actuating hinge median bar -->
<joint name="r_finger_2_joint_median_actuating_hinge_median_bar" type="revolute">
<parent link="r_finger_2_link_median_actuating_hinge"/>
<child link="r_finger_2_link_median_bar"/>
<axis xyz="0 0 1"/>
<!-- hand calc 90 deg + atan(0.01516/0.01625) -->
<origin rpy="0 0 2.3215" xyz="0.01625 0.01516 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_2_joint_median_actuating_hinge_median_bar">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paradistal hinge -->
<joint name="r_finger_2_joint_paradistal_hinge" type="revolute">
<parent link="r_finger_2_link_2"/>
<child link="r_finger_2_link_paradistal_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 0" xyz="0 0.039 -0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_2_joint_paradistal_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paramedian hinge median bar underactuated -->
<joint name="r_finger_2_joint_paramedian_hinge_median_bar_underactuated" type="revolute">
<parent link="r_finger_2_link_paramedian_hinge"/>
<child link="r_finger_2_link_median_bar_underactuated"/>
<axis xyz="0 0 1"/>
<!-- hand calc 90 deg + atan(0.01227/0.00329) -->
<origin rpy="0 0 1.5708" xyz="0.01227 0.00329 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_2_joint_paramedian_hinge_median_bar_underactuated">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint 1 -->
<joint name="r_finger_2_joint_1" type="revolute">
<origin rpy="0 0 -2.0906" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
<parent link="r_finger_2_link_0"/>
<child link="r_finger_2_link_1"/>
<dynamics damping="1" friction="0"/>
<!-- Limits: [0deg.,70deg.] -->
<limit effort="60" lower="0" upper="1.2217" velocity="-1"/>
</joint>
<gazebo reference="r_finger_2_joint_1">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint 2 -->
<joint name="r_finger_2_joint_2" type="revolute">
<parent link="r_finger_2_link_1"/>
<child link="r_finger_2_link_2"/>
<dynamics damping="1" friction="0"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 0" xyz="0 0.05715 0"/>
<!-- Limits: [0deg.,90deg.] -->
<limit effort="60" lower="0" upper="1.5708" velocity="-1"/>
</joint>
<gazebo reference="r_finger_2_joint_2">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint 3 -->
<joint name="r_finger_2_joint_3" type="revolute">
<parent link="r_finger_2_link_2"/>
<child link="r_finger_2_link_3"/>
<dynamics damping="1" friction="0"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 2.0906" xyz="0 0.039 0"/>
<!-- Limits: [-38deg.,60deg.] -->
<limit effort="60" lower="-0.6632" upper="1.0471" velocity="-1"/>
</joint>
<gazebo reference="r_finger_2_joint_3">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- end of joint list -->
<!-- coupling joints in sdf -->
<gazebo>
<joint name="r_finger_2_link_proximal_actuating_bar_median_actuating_hinge_couple" type="revolute">
<parent>r_finger_2_link_median_actuating_hinge</parent>
<child>r_finger_2_link_proximal_actuating_bar</child>
<pose>0.05398 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="r_finger_2_link_proximal_actuating_bar_median_actuating_hinge_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="r_finger_2_link_median_bar_link_3_couple" type="revolute">
<parent>r_finger_2_link_3</parent>
<child>r_finger_2_link_median_bar</child>
<pose>0.0381 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="r_finger_2_link_median_bar_link_3_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="r_finger_2_link_paramedian_bar_paradistal_hinge_couple" type="revolute">
<parent>r_finger_2_link_paradistal_hinge</parent>
<child>r_finger_2_link_median_bar_underactuated</child>
<pose>0.0381 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="r_finger_2_link_median_bar_link_3_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="r_finger_2_link_paradistal_hinge_link_3_couple" type="revolute">
<parent>r_finger_2_link_paradistal_hinge</parent>
<child>r_finger_2_link_3</child>
<pose>0.0381 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="r_finger_2_link_paradistal_hinge_link_3_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="r_finger_2_link_paraproximal_bar_paramedian_hinge_couple" type="revolute">
<parent>r_finger_2_link_paramedian_hinge</parent>
<child>r_finger_2_link_paraproximal_bar</child>
<pose>0.05770 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="r_finger_2_link_paraproximal_bar_paramedian_hinge_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Link list -->
<!-- Link 0 -->
<link name="r_finger_middle_link_0">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_0.STL"/>
</geometry>
<material name="green">
<color rgba="0 1 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_0.STL"/>
</geometry>
<material name="yellow">
<color rgba="0 1 1 1"/>
</material>
</collision>
<inertial>
<mass value="0.1"/>
<origin xyz="-0.01 0 0"/>
<inertia ixx="0.000018" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<gazebo reference="r_finger_middle_link_0">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link 1 -->
<link name="r_finger_middle_link_1">
<visual>
<origin rpy="0 0 1.5708" xyz="0 0.05717 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_1.STL"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 1.5708" xyz="0 0.05717 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_1.STL"/>
</geometry>
<material name="yellow">
<color rgba="0 1 1 1"/>
</material>
</collision>
<inertial>
<origin rpy="0 0 1.5708" xyz="0.00053 0.03218 0"/>
<mass value="0.047"/>
<inertia ixx="0.00000499332" ixy="0.00000091312" ixz="-0.00000000120" iyy="0.00006434531" iyz="-0.00000000007" izz="0.00006061917"/>
</inertial>
</link>
<gazebo reference="r_finger_middle_link_1">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link 2 -->
<link name="r_finger_middle_link_2">
<visual>
<origin rpy="0 0 1.5708" xyz="0 0.03810 0.0075"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_2.STL"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 1.5708" xyz="0 0.03810 0.0075"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_2.STL"/>
</geometry>
<material name="yellow"/>
</collision>
<inertial>
<origin rpy="0 0 1.5708" xyz="0.00048 0.02167 0.00018"/>
<mass value="0.03284"/>
<inertia ixx="0.00000348008" ixy="0.00000031940" ixz="0.00000013041" iyy="0.00002248123" iyz="0.00000000291" izz="0.00001986346"/>
</inertial>
</link>
<gazebo reference="r_finger_middle_link_2">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link 3 -->
<link name="r_finger_middle_link_3">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_3.STL"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_3.STL"/>
</geometry>
<material name="yellow"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01626 0.00049 0.0002"/>
<mass value="0.03354"/>
<inertia ixx="0.00000305151" ixy="0.00000089792" ixz="0.00000000249" iyy="0.00001427978" iyz="-0.00000001191" izz="0.00001264126"/>
</inertial>
</link>
<gazebo reference="r_finger_middle_link_3">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link proximal actuating hinge -->
<link name="r_finger_middle_link_proximal_actuating_hinge">
<visual>
<origin rpy="0 0 0" xyz="0.01429 0 0"/>
<geometry>
<box size="0.02858 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01429 0 0"/>
<geometry>
<box size="0.02858 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0012 -0.00162 -0.00161"/>
<mass value="0.02647"/>
<inertia ixx="0.00000156447" ixy="0.000000236226" ixz="-0.00000014862" iyy="0.00000221068" iyz="-0.00000014369" izz="0.00000323175"/>
</inertial>
</link>
<gazebo reference="r_finger_middle_link_proximal_actuating_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paraproximal actuating hinge -->
<link name="r_finger_middle_link_paraproximal_actuating_hinge">
<visual>
<origin rpy="0 0 0" xyz="0.01143 0 0"/>
<geometry>
<box size="0.02286 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01143 0 0"/>
<geometry>
<box size="0.02286 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0064 0 0"/>
<!-- copied from proximal_actuating_hinge -->
<mass value="0.00362"/>
<inertia ixx="0.00000012043" ixy="0" ixz="0" iyy="0.00000053588" iyz="0" izz="0.00000065322"/>
</inertial>
</link>
<gazebo reference="r_finger_middle_link_paraproximal_actuating_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link proximal actuating bar -->
<link name="r_finger_middle_link_proximal_actuating_bar">
<visual>
<origin rpy="0 0 0" xyz="0.026789 0 0"/>
<geometry>
<box size="0.05398 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.026789 0 0"/>
<geometry>
<box size="0.05398 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.02699 -0.00122 0"/>
<mass value="0.00659"/>
<inertia ixx="0.00000008348" ixy="-0.0000002179" ixz="0.00000000134" iyy="0.00000719076" iyz="0" izz="0.00000718272"/>
</inertial>
</link>
<gazebo reference="r_finger_middle_link_proximal_actuating_bar">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paraproximal bar -->
<link name="r_finger_middle_link_paraproximal_bar">
<visual>
<origin rpy="0 0 0" xyz="0.02885 0 0"/>
<geometry>
<box size="0.05770 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.02885 0 0"/>
<geometry>
<box size="0.05770 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.02858 -0.00129 0"/>
<mass value="0.00732"/>
<inertia ixx="0.00000009065" ixy="-0.00000027047" ixz="0.00000000142" iyy="0.00000878034" iyz="0" izz="0.00000877558"/>
</inertial>
</link>
<gazebo reference="r_finger_middle_link_paraproximal_bar">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link median actuating hinge -->
<link name="r_finger_middle_link_median_actuating_hinge">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0092 0.00514 0"/>
<mass value="0.00359"/>
<inertia ixx="0.00000024735" ixy="0.00000023619" ixz="0" iyy="0.00000047681" iyz="0" izz="0.00000071813"/>
</inertial>
</link>
<gazebo reference="r_finger_middle_link_median_actuating_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link median bar -->
<link name="r_finger_middle_link_median_bar">
<visual>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01905 -0.00107 0"/>
<mass value="0.00538"/>
<inertia ixx="0.00000006639" ixy="-0.00000010996" ixz="0.00000000094" iyy="0.00000305318" iyz="0" izz="0.00000304657"/>
</inertial>
</link>
<gazebo reference="r_finger_middle_link_median_bar">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paramedian hinge -->
<link name="r_finger_middle_link_paramedian_hinge">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.01025 0.00046 0"/>
<mass value="0.00276"/>
<inertia ixx="0.00000004213" ixy="-0.00000001491" ixz="0" iyy="0.00000050258" iyz="0" izz="0.00000054007"/>
</inertial>
</link>
<gazebo reference="r_finger_middle_link_paramedian_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link median bar underactuated -->
<link name="r_finger_middle_link_median_bar_underactuated">
<visual>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01905 -0.00107 0"/>
<mass value="0.00538"/>
<inertia ixx="0.00000006639" ixy="-0.00000010996" ixz="-0.00000000094" iyy="0.00000305318" iyz="0" izz="0.00000304657"/>
</inertial>
</link>
<gazebo reference="r_finger_middle_link_median_bar_underactuated">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paradistal hinge -->
<link name="r_finger_middle_link_paradistal_hinge">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 0.02 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.00548 0 0"/>
<mass value="0.00158"/>
<inertia ixx="0.00000001907" ixy="0" ixz="0" iyy="0.00000010970" iyz="0" izz="0.00000012610"/>
</inertial>
</link>
<gazebo reference="r_finger_middle_link_paradistal_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- End of link list -->
<!-- Joint list -->
<!-- Joint proximal actuating hinge -->
<joint name="r_finger_middle_joint_proximal_actuating_hinge" type="revolute">
<parent link="r_finger_middle_link_0"/>
<child link="r_finger_middle_link_proximal_actuating_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 -2.0906" xyz="0 0 0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_middle_joint_proximal_actuating_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paraproximal actuating hinge -->
<joint name="r_finger_middle_joint_paraproximal_actuating_hinge" type="revolute">
<parent link="r_finger_middle_link_0"/>
<child link="r_finger_middle_link_paraproximal_actuating_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 -2.0906" xyz="0 0 -0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_middle_joint_paraproximal_actuating_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint proximal actuating bar -->
<joint name="r_finger_middle_joint_proximal_actuating_bar" type="revolute">
<parent link="r_finger_middle_link_proximal_actuating_hinge"/>
<child link="r_finger_middle_link_proximal_actuating_bar"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 1.8616" xyz="0.02858 0 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_middle_joint_proximal_actuating_bar">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paraproximal bar -->
<joint name="r_finger_middle_joint_paraproximal_bar" type="revolute">
<parent link="r_finger_middle_link_paraproximal_actuating_hinge"/>
<child link="r_finger_middle_link_paraproximal_bar"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 1.57" xyz="0.02286 0 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_middle_joint_paraproximal_bar">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint median actuating hinge -->
<joint name="r_finger_middle_joint_median_actuating_hinge" type="revolute">
<parent link="r_finger_middle_link_1"/>
<child link="r_finger_middle_link_median_actuating_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 -0.37" xyz="0 0.05715 0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_middle_joint_median_actuating_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paramedian hinge -->
<joint name="r_finger_middle_joint_paramedian_hinge" type="revolute">
<parent link="r_finger_middle_link_1"/>
<child link="r_finger_middle_link_paramedian_hinge"/>
<axis xyz="0 0 1"/>
<!-- -0.37 is hand picked, 0.9719 is hand calculated from atan(0.02381/0.01625) -->
<origin rpy="0 0 0" xyz="0 0.05715 -0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_middle_joint_paramedian_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint median actuating hinge median bar -->
<joint name="r_finger_middle_joint_median_actuating_hinge_median_bar" type="revolute">
<parent link="r_finger_middle_link_median_actuating_hinge"/>
<child link="r_finger_middle_link_median_bar"/>
<axis xyz="0 0 1"/>
<!-- hand calc 90 deg + atan(0.01516/0.01625) -->
<origin rpy="0 0 2.3215" xyz="0.01625 0.01516 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_middle_joint_median_actuating_hinge_median_bar">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paradistal hinge -->
<joint name="r_finger_middle_joint_paradistal_hinge" type="revolute">
<parent link="r_finger_middle_link_2"/>
<child link="r_finger_middle_link_paradistal_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 0" xyz="0 0.039 -0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_middle_joint_paradistal_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paramedian hinge median bar underactuated -->
<joint name="r_finger_middle_joint_paramedian_hinge_median_bar_underactuated" type="revolute">
<parent link="r_finger_middle_link_paramedian_hinge"/>
<child link="r_finger_middle_link_median_bar_underactuated"/>
<axis xyz="0 0 1"/>
<!-- hand calc 90 deg + atan(0.01227/0.00329) -->
<origin rpy="0 0 1.5708" xyz="0.01227 0.00329 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_middle_joint_paramedian_hinge_median_bar_underactuated">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint 1 -->
<joint name="r_finger_middle_joint_1" type="revolute">
<origin rpy="0 0 -2.0906" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
<parent link="r_finger_middle_link_0"/>
<child link="r_finger_middle_link_1"/>
<dynamics damping="1" friction="0"/>
<!-- Limits: [0deg.,70deg.] -->
<limit effort="60" lower="0" upper="1.2217" velocity="-1"/>
</joint>
<gazebo reference="r_finger_middle_joint_1">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint 2 -->
<joint name="r_finger_middle_joint_2" type="revolute">
<parent link="r_finger_middle_link_1"/>
<child link="r_finger_middle_link_2"/>
<dynamics damping="1" friction="0"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 0" xyz="0 0.05715 0"/>
<!-- Limits: [0deg.,90deg.] -->
<limit effort="60" lower="0" upper="1.5708" velocity="-1"/>
</joint>
<gazebo reference="r_finger_middle_joint_2">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint 3 -->
<joint name="r_finger_middle_joint_3" type="revolute">
<parent link="r_finger_middle_link_2"/>
<child link="r_finger_middle_link_3"/>
<dynamics damping="1" friction="0"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 2.0906" xyz="0 0.039 0"/>
<!-- Limits: [-38deg.,60deg.] -->
<limit effort="60" lower="-0.6632" upper="1.0471" velocity="-1"/>
</joint>
<gazebo reference="r_finger_middle_joint_3">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- end of joint list -->
<!-- coupling joints in sdf -->
<gazebo>
<joint name="r_finger_middle_link_proximal_actuating_bar_median_actuating_hinge_couple" type="revolute">
<parent>r_finger_middle_link_median_actuating_hinge</parent>
<child>r_finger_middle_link_proximal_actuating_bar</child>
<pose>0.05398 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="r_finger_middle_link_proximal_actuating_bar_median_actuating_hinge_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="r_finger_middle_link_median_bar_link_3_couple" type="revolute">
<parent>r_finger_middle_link_3</parent>
<child>r_finger_middle_link_median_bar</child>
<pose>0.0381 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="r_finger_middle_link_median_bar_link_3_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="r_finger_middle_link_paramedian_bar_paradistal_hinge_couple" type="revolute">
<parent>r_finger_middle_link_paradistal_hinge</parent>
<child>r_finger_middle_link_median_bar_underactuated</child>
<pose>0.0381 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="r_finger_middle_link_median_bar_link_3_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="r_finger_middle_link_paradistal_hinge_link_3_couple" type="revolute">
<parent>r_finger_middle_link_paradistal_hinge</parent>
<child>r_finger_middle_link_3</child>
<pose>0.0381 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="r_finger_middle_link_paradistal_hinge_link_3_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="r_finger_middle_link_paraproximal_bar_paramedian_hinge_couple" type="revolute">
<parent>r_finger_middle_link_paramedian_hinge</parent>
<child>r_finger_middle_link_paraproximal_bar</child>
<pose>0.05770 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="r_finger_middle_link_paraproximal_bar_paramedian_hinge_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- link list -->
<!-- Link palm -->
<link name="r_palm">
<visual>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/palm.STL"/>
</geometry>
<material name="green">
<color rgba="0 1 0 1"/>
</material>
</visual>
<!-- Simple shape collision -->
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.1 0.1 0.1"/>
</geometry>
<material name="yellow">
<color rgba="0 1 1 1"/>
</material>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="1.3"/>
<inertia ixx="0.0035" ixy="0" ixz="-0" iyy="0.0035" iyz="0" izz="0.0035"/>
</inertial>
</link>
<gazebo reference="r_palm">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- End of link list -->
<!-- Joint list -->
<!-- Joint palm_finger_1_joint -->
<joint name="r_palm_finger_1_joint" type="revolute">
<parent link="r_palm"/>
<child link="r_finger_1_link_0"/>
<dynamics damping="1" friction="0"/>
<axis xyz="0 1 0"/>
<origin rpy="0 3.1416 -1.57" xyz="-0.0455 0.0214 0.036"/>
<!-- Limits: [-17deg.,17deg.] -->
<limit effort="60" lower="-0.2967" upper="0.2967" velocity="-1"/>
</joint>
<gazebo reference="r_palm_finger_1_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint palm_finger_2_joint -->
<joint name="r_palm_finger_2_joint" type="revolute">
<parent link="r_palm"/>
<child link="r_finger_2_link_0"/>
<dynamics damping="1" friction="0"/>
<axis xyz="0 1 0"/>
<origin rpy="0 3.1416 -1.57" xyz="-0.0455 0.0214 -0.036"/>
<!-- Limits: [-17deg.,17deg.] -->
<limit effort="60" lower="-0.2967" upper="0.2967" velocity="-1"/>
</joint>
<gazebo reference="r_palm_finger_2_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint palm_finger_middle_joint -->
<joint name="r_palm_finger_middle_joint" type="revolute">
<parent link="r_palm"/>
<child link="r_finger_middle_link_0"/>
<dynamics damping="1" friction="0"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 1.57" xyz="0.0455 0.0214 0"/>
<limit effort="60" lower="0" upper="0" velocity="-1"/>
</joint>
<gazebo reference="r_palm_finger_middle_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- end of joint list -->
<!-- Join left arm to top plate -->
<joint name="r_ur5_arm_base" type="fixed">
<parent link="dual_arm_bulkhead_link"/>
<child link="r_ur5_arm_base_link"/>
<origin rpy="0 0.785 -1.57" xyz="0.125 -0.15 0.135"/>
</joint>
<!-- Joint right arm to top plate -->
<joint name="l_ur5_arm_base" type="fixed">
<parent link="dual_arm_bulkhead_link"/>
<child link="l_ur5_arm_base_link"/>
<origin rpy="0 -0.785 -1.57" xyz="0.125 0.15 0.135"/>
</joint>
</robot>
| 35.86137 | 171 | 0.626386 |
b7f56ece304c2cd099ff47aab4bb1617abd1edc5
| 1,768 |
xml
|
XML
|
gym/envs/robotics/assets/fetch/random_obj_xml/6128_grasp.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/6128_grasp.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/6128_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="0.005607776375777223 0.005607776375777223 0.005607776375777223" />
</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="0.027673445523582217 0.04481749179350914 0.03326870814637689">
<joint damping="0.01" name="object0:joint" type="free" />
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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" 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solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_3" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>-->
</actuator>
</mujoco>
| 145.340643 | 19,113 | 0.691449 |
b7fee1c72808580f65da3778eadc767202428df9
| 1,773 |
xml
|
XML
|
gym/envs/robotics/assets/fetch/random_obj_xml/7355_grasp.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/7355_grasp.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/7355_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/735/735.stl" name="obj0" scale="0.0034961301688806504 0.0034961301688806504 0.0034961301688806504" />
</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="0.02271093324771717 0.023082550907888168 0.017530058155949872">
<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="0.0002280059061583452 0.004565870822573843 0.0029861450764040024" rgba="1 0 0 0" size="0.011355466623858584 0.011541275453944084 0.008765029077974936" 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>
| 43.243902 | 199 | 0.672307 |
b7ff12a5a5f9cb11505854a5f6fbf15b04f23daf
| 3,079 |
xml
|
XML
|
brl_gym/envs/mujoco/assets/pusher_plane_2d.xml
|
gilwoolee/brl_gym
|
9c0784e9928f12d2ee0528c79a533202d3afb640
|
[
"BSD-3-Clause"
] | 2 |
2020-08-07T05:50:44.000Z
|
2022-03-03T08:46:10.000Z
|
brl_gym/envs/mujoco/assets/pusher_plane_2d.xml
|
gilwoolee/brl_gym
|
9c0784e9928f12d2ee0528c79a533202d3afb640
|
[
"BSD-3-Clause"
] | null | null | null |
brl_gym/envs/mujoco/assets/pusher_plane_2d.xml
|
gilwoolee/brl_gym
|
9c0784e9928f12d2ee0528c79a533202d3afb640
|
[
"BSD-3-Clause"
] | null | null | null |
<mujoco model="pusher_plane_2d">
<compiler angle="radian" inertiafromgeom="true"/>
<default>
<joint armature="1" damping="1" limited="true"/>
<geom contype="0" friction="1. 0.1 0.1" rgba="0.7 0.7 0 1" solimp=".5 .5 .001" solref=".02 1"/>
</default>
<option timestep='0.01' iterations="50" tolerance="1e-7" solver="Newton" jacobian="dense" cone="elliptic"/>
<!-- <option integrator="RK4" timestep="0.005" gravity="0 0 -9.81" /> -->
<size nstack="1000000"/>
<asset>
<texture type="skybox" builtin="gradient" width="128" height="128" rgb1=".4 .6 .8"
rgb2="0 0 0"/>
<texture name="texgeom" type="cube" builtin="flat" mark="cross" width="127" height="1278"
rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
<texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
width="512" height="512"/>
<material name='MatPlane' reflectance='0.3' texture="texplane" texrepeat="1 1" texuniform="true"/>
<material name='geom' texture="texgeom" texuniform="true"/>
</asset>
<worldbody>
<!-- Ground -->
<geom name='floor' rgba="1 0 0 1" pos='0 0 0' size='5 5 .125' type='plane' material="MatPlane" condim='3'/>
<!-- Ground Center -->
<!-- <body name="center" pos="0. 0. 0.">
<geom conaffinity="0" contype="0" name="center" pos="0 0 0" rgba="0. 0. 1.0 1" size=".009" type="sphere"/>
</body> -->
<!-- Pusher -->
<body name="pusher" pos="0 0.0 1.5">
<geom rgba="1 0 0 1" type="box" size="0.05 1.5 1.5" mass="100.0" contype="1" conaffinity="1" condim="3" friction="10.0 10.0 0.01"/>
<joint name="push_slidex" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="1.0"/>
<joint name="push_slidey" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="1.0"/>
<joint name="push_hinge" type="hinge" pos="0 0 0" axis="0 0 1" range="-1000. 1000.0" damping="1.0"/>
</body>
<!-- Object -->
<body name='box' pos='0.5 0 0.44'>
<joint name="slidex" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="1.0"/>
<joint name="slidey" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="1.0"/>
<geom name='box' type='box' size='0.45 0.45 0.45' mass='35.0' condim='3'/>
</body>
<geom name='target' type='capsule' fromto='2.5 2.5 0 2.5 2.5 1.5' size='0.03' contype='0' conaffinity='0'/>
<camera euler="0 0 0" fovy="50" name="top_cam" pos="0 0 1.0"></camera>
</worldbody>
<contact>
<pair geom1='box' geom2='floor' friction='0.01 0.01' condim='3'/>
</contact>
<actuator>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="5000.0" joint="push_slidex"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="5000.0" joint="push_slidey"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="50.0" joint="push_hinge"/>
</actuator>
</mujoco>
| 48.873016 | 143 | 0.561871 |
4d0051d7354c9aca0b0159616174e9e1ff19cb12
| 81,346 |
xml
|
XML
|
herb_reconf/cluttered_scenes/easy_pushing_057_racquetball_0_0.7_scene.xml
|
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
|
f55c6b0fac44d9d749e7804d99169a39d30c2111
|
[
"MIT"
] | null | null | null |
herb_reconf/cluttered_scenes/easy_pushing_057_racquetball_0_0.7_scene.xml
|
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
|
f55c6b0fac44d9d749e7804d99169a39d30c2111
|
[
"MIT"
] | null | null | null |
herb_reconf/cluttered_scenes/easy_pushing_057_racquetball_0_0.7_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"/>
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<body euler="0 0 2.7332426083415853" name="gen_body_0" pos="-0.05 -0.35 0.3001909999991767"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.07348657836673633 0.43162799901159155 0.9516425047387976 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 2.4925443071790725" name="gen_body_gadded_1" pos="0.05153441293000684 -0.35 0.300167380447203"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.9212577634597541 0.7916277013219901 0.7300689115691857 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 0.649353206691042" name="gen_body_gadded_2" pos="0.06286029474579607 -0.116734499800036 0.30136790297986"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.9298796871224292 0.26831811345091106 0.7178512648345088 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 2.576120261533801" name="gen_body_gadded_3" pos="0.4685200153720428 0.09632935539825088 0.2999433873658763"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.4640169582450481 0.990884017205758 0.425084349608821 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 1.7609702309587796" name="gen_body_gadded_4" pos="-0.2026749094394672 -0.12844604379033267 0.3008312205628299"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.8357502659626301 0.8299484820274257 0.5748858005564154 1" type="mesh"/><joint class="/" name="gen_joint_gadded_4" type="free"/></body><body euler="0 0 0.32676667785914315" name="gen_body_gadded_5" pos="-0.2854974206710329 -0.8471584591245104 0.3022615660317229"><geom class="/" mesh="gen_mesh_gadded_5" name="gen_geom_gadded_5" rgba="0.15283546652291102 0.8560386875946773 0.6758237638887044 1" type="mesh"/><joint class="/" name="gen_joint_gadded_5" type="free"/></body><body euler="0 0 5.32401056223609" name="gen_body_gadded_6" pos="-0.019987122023812896 -0.5546426856831975 0.30046183495204193"><geom class="/" mesh="gen_mesh_gadded_6" name="gen_geom_gadded_6" rgba="0.8698230584980516 0.1240746607083042 0.2574150283353208 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"/>
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<!--<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="box_geom_0" geom2="table_plane"/>-->
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/>
<!--<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>-->
<!--<pair geom1="//unnamed_geom_8" geom2="tabletop" friction="1 1 0.005 0.0001 0.0001" />-->
<!-- <pair geom1="//unnamed_geom_9" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> -->
</contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="10000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="10000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="10000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="10000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>-->
</actuator>
</mujoco>
| 122.882261 | 2,279 | 0.686187 |
4d07ec84399fd81065c915d37ad1d88cbcc3eb2f
| 1,770 |
xml
|
XML
|
gym/envs/robotics/assets/fetch/random_obj_xml/9643_grasp.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/9643_grasp.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/9643_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/964/964.stl" name="obj0" scale="0.005312724546956032 0.005312724546956032 0.005312724546956032" />
</asset>
<worldbody>
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gym/envs/robotics/assets/fetch/random_obj_xml/6752_peg.xml
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<site name="herb/wam/hand_attachment" class="herb/wam/"/>
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<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"/>
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</body>
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</body> -->
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<!--<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"/>
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<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/>
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<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/>
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<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/>
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<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/>
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<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" />
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<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>
| 118.172515 | 1,950 | 0.688111 |
4d0b37e38d15dd5b38624856cb23369699100c17
| 1,769 |
xml
|
XML
|
gym/envs/robotics/assets/fetch/random_obj_xml/6000_grasp.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/6000_grasp.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/6000_grasp.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
<mujoco>
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| 43.146341 | 199 | 0.670435 |
4d0ce4b01186de05bbd2aae23fcaeed2dd515ff9
| 1,457 |
xml
|
XML
|
gym/envs/robotics/assets/fetch/random_obj_xml/3049_slide.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/3049_slide.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/3049_slide.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
<mujoco>
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| 38.342105 | 155 | 0.61908 |
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| 1,454 |
xml
|
XML
|
gym/envs/robotics/assets/fetch/random_obj_xml/7061_slide.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/7061_slide.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/7061_slide.xml
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Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
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] | null | null | null |
<mujoco>
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| 38.263158 | 155 | 0.618294 |
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xml
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XML
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gym/envs/robotics/assets/fetch/random_obj_xml/4098_peg.xml
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Jekyll1021/gym
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1701741df2e6ae9a762fe647122ee8344f586bc9
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[
"Python-2.0",
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] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/4098_peg.xml
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Jekyll1021/gym
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1701741df2e6ae9a762fe647122ee8344f586bc9
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[
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] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/4098_peg.xml
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Jekyll1021/gym
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1701741df2e6ae9a762fe647122ee8344f586bc9
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[
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<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/>
<!--<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>-->
<!--<pair geom1="//unnamed_geom_8" geom2="tabletop" friction="1 1 0.005 0.0001 0.0001" />-->
<!-- <pair geom1="//unnamed_geom_9" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> -->
</contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="10000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="10000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="10000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="10000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>-->
</actuator>
</mujoco>
| 122.879121 | 2,282 | 0.686179 |
4d19149e7d19514b7df958891e9f0e4dc91155d8
| 1,768 |
xml
|
XML
|
gym/envs/robotics/assets/fetch/random_obj_xml/5360_grasp.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/5360_grasp.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/5360_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/536/536.stl" name="obj0" scale="0.004935353215360888 0.004935353215360888 0.004935353215360888" />
</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="0.008376148222573683 0.04195703920590129 0.023969611394371277">
<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="0.0035176192521609944 -0.0214103056701823 0.012782995434341917" rgba="1 0 0 0" size="0.004188074111286842 0.020978519602950645 0.011984805697185638" 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 | 0.670814 |
4d1b72ad0d7590e64573571efb2683f3383d7d2c
| 81,308 |
xml
|
XML
|
herb_reconf/cluttered_scenes/hard_pushing_006_mustard_bottle_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_006_mustard_bottle_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_006_mustard_bottle_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/">
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<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 0.534765815402928" name="gen_body_0" pos="0 0 0.3031530000269413"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.6936795270051179 0.06171699256249541 0.6666115972798587 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 3.398195532124924" name="gen_body_gadded_1" pos="0.170245140561009 0.0 0.29676865430296134"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.5660014425321634 0.4286621810304163 0.498107993085808 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 2.8319725396299757" name="gen_body_gadded_2" pos="0.3842063939379037 0.2341117613873343 0.30223830821048014"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.8506257834927881 0.44849744361357735 0.31647203707332006 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 2.887326108819899" name="gen_body_gadded_3" pos="0.1941368676986271 -0.48322517097057066 0.29905502029820824"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.9152680641407671 0.4599585811357534 0.2736794580595715 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 4.706902231336524" name="gen_body_gadded_4" pos="-0.08368206891635016 0.2694271348999367 0.2996334364347024"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.9537583317558155 0.569954372815843 0.635201495982314 1" type="mesh"/><joint class="/" name="gen_joint_gadded_4" type="free"/></body><body euler="0 0 0.8553418876494232" name="gen_body_gadded_5" pos="0.09192766400598675 -0.5023659634681498 0.30059946694025497"><geom class="/" mesh="gen_mesh_gadded_5" name="gen_geom_gadded_5" rgba="0.8580684347139166 0.48540733901700384 0.23216176738939953 1" type="mesh"/><joint class="/" name="gen_joint_gadded_5" type="free"/></body><body euler="0 0 0.8471065345027654" name="gen_body_gadded_6" pos="0.5565773975172387 -0.03131039689232518 0.3004034733360177"><geom class="/" mesh="gen_mesh_gadded_6" name="gen_geom_gadded_6" rgba="0.661248096814272 0.920539731041378 0.9552766260513542 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>
| 118.871345 | 2,275 | 0.688801 |
4d1b737e440fd10c5ba0030f69c75c1eba6b881b
| 1,525 |
xml
|
XML
|
multiworld/envs/assets/classic_mujoco/ant_maze.xml
|
kevintli/multiworld
|
67ffb65e2e2909380cb6e33fee61f39fe0824798
|
[
"MIT"
] | 5 |
2021-09-23T07:35:58.000Z
|
2022-01-07T21:23:06.000Z
|
multiworld/multiworld/envs/assets/classic_mujoco/ant_maze.xml
|
kevintli/mural
|
e18e7d1a72b561fab1b5da026806e3417a9c63db
|
[
"MIT"
] | null | null | null |
multiworld/multiworld/envs/assets/classic_mujoco/ant_maze.xml
|
kevintli/mural
|
e18e7d1a72b561fab1b5da026806e3417a9c63db
|
[
"MIT"
] | 1 |
2021-12-10T20:01:16.000Z
|
2021-12-10T20:01:16.000Z
|
<?xml version="1.0" encoding="utf-8"?>
<mujoco model="antmaze">
<include file="config.xml"></include>
<include file="assets.xml"></include>
<worldbody>
<light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
<geom conaffinity="1" condim="3" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="50 50 50" type="plane"/>
<include file="ant.xml"></include>
<include file="maze_walls.xml"></include>
<!--By default, this goal will be hidden under the floor-->
<site name="goal" rgba="0 1 1 0.5" pos="0. 0. -1" size="0.5" />
<site name="origin" rgba="0 0 1 0.5" pos="0. 0. 0." size="0.1" />
<site name="start" rgba="1 0 0 0.5" pos="-3 -3 0." size="0.1" />
</worldbody>
<actuator>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_4" gear="30"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_4" gear="30"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_1" gear="30"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_1" gear="30"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_2" gear="30"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_2" gear="30"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_3" gear="30"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_3" gear="30"/>
</actuator>
</mujoco>
| 56.481481 | 137 | 0.584918 |
4d1e519f28d0fca8cfca94810666d8cbbf3e5047
| 2,720 |
xml
|
XML
|
gym/envs/robotics/assets/fetch/random_obj_xml/4405_peg.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/4405_peg.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/4405_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/440/440.stl" name="obj0" scale="0.005036854031340565 0.005036854031340565 0.005036854031340565" />
</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="0.03214494051160585 0.04 0.012730074362853705" 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="-0.02128794217119593 -0.023041330345689386 0.040120037837318455" size="0.021634785962976615 0.013883155839277461 0.053345239332408256" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="-0.012887067201600091 -0.020400086642572448 -0.0004951271322360942" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.02128794217119593 -0.023041330345689386 0.030120037837318453" 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 | 223 | 0.65625 |
4d1f99867a5908d4df4ea924c12741aae9b97be3
| 1,770 |
xml
|
XML
|
gym/envs/robotics/assets/fetch/random_obj_xml/7419_grasp.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/7419_grasp.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/7419_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/741/741.stl" name="obj0" scale="0.007965743459547531 0.007965743459547531 0.007965743459547531" />
</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="0.02274121779056268 0.05876244114940369 0.02125175519839437">
<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="-0.00020021705429309686 0.0010831126284399375 -0.001374714444998601" rgba="1 0 0 0" size="0.01137060889528134 0.029381220574701845 0.010625877599197186" 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 | 201 | 0.670621 |
4d1fa1264ff517ff01386e38c6770a3d9439d152
| 1,455 |
xml
|
XML
|
gym/envs/robotics/assets/fetch/random_obj_xml/1750_slide.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/1750_slide.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/1750_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/175/175.stl" name="obj0" scale="0.003378188535589208 0.003378188535589208 0.003378188535589208" />
</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="0.02082570297662198 0.02705063694013564 0.22418256500798603">
<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 |
4d229d42a99a68d9b8eb7a2d3cdcfc3b7f4621c7
| 1,769 |
xml
|
XML
|
gym/envs/robotics/assets/fetch/random_obj_xml/2980_grasp.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/2980_grasp.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/2980_grasp.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/298/298.stl" name="obj0" scale="0.006304292783175101 0.006304292783175101 0.006304292783175101" />
</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="0.039659149061228846 0.03995056814727751 0.03713173601942921">
<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" />
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<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" />
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<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 |
4d24644d7f688b95221e330bf5a6bbeca8b763f2
| 1,451 |
xml
|
XML
|
gym/envs/robotics/assets/fetch/random_obj_xml/5333_slide.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/5333_slide.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/5333_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/533/533.stl" name="obj0" scale="0.00769745515536179 0.00769745515536179 0.00769745515536179" />
</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="0.022443300652474952 0.0469485648021476 0.2109846110434557">
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4d24eaff17f4bf463ebcae4e58e94ae86f6736b9
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xml
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XML
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herb_reconf/cluttered_scenes/hard_pushing_007_tuna_fish_can_3_0.0_scene.xml
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wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
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f55c6b0fac44d9d749e7804d99169a39d30c2111
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[
"MIT"
] | null | null | null |
herb_reconf/cluttered_scenes/hard_pushing_007_tuna_fish_can_3_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_007_tuna_fish_can_3_0.0_scene.xml
|
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
|
f55c6b0fac44d9d749e7804d99169a39d30c2111
|
[
"MIT"
] | null | null | null |
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<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"/>
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<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"/>
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<!--
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<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
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<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
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<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"/>
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<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
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<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
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<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
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<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">
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<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
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<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"/>
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<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"/>
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<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"/>
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<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
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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"/>
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xml
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XML
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gym/envs/robotics/assets/fetch/random_obj_xml/7207_slide.xml
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Jekyll1021/gym
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1701741df2e6ae9a762fe647122ee8344f586bc9
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[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/7207_slide.xml
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Jekyll1021/gym
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1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/7207_slide.xml
|
Jekyll1021/gym
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1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
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] | null | null | null |
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| 38.236842 | 155 | 0.618032 |
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xml
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XML
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gym/envs/robotics/assets/fetch/random_obj_xml/9328_grasp.xml
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Jekyll1021/gym
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1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/9328_grasp.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/9328_grasp.xml
|
Jekyll1021/gym
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1701741df2e6ae9a762fe647122ee8344f586bc9
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[
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xml
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XML
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marathon-envs-0.5.0a + ml-agents-0.5-3.0a + TensorFlowSharp/UnitySDK/Assets/Resources/legs(3~8)/4_leg.xml
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kyuhoJeong11/GrewRL
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a514698df8d38df34de0bd1667d99927f0aa3885
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[
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marathon-envs-0.5.0a + ml-agents-0.5-3.0a + TensorFlowSharp/UnitySDK/Assets/Resources/legs(3~8)/4_leg.xml
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kyuhoJeong11/GrewRL
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a514698df8d38df34de0bd1667d99927f0aa3885
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[
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marathon-envs-0.5.0a + ml-agents-0.5-3.0a + TensorFlowSharp/UnitySDK/Assets/Resources/legs(3~8)/4_leg.xml
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kyuhoJeong11/GrewRL
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a514698df8d38df34de0bd1667d99927f0aa3885
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[
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<touch name="touch_fourth_ankle_geom" site="fourth_ankle_geom"/>
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| 53.895833 | 163 | 0.574217 |
4d29173cf8a617103c54121e87ccca75e7a429fc
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xml
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XML
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gym/envs/robotics/assets/fetch/random_obj_xml/7588_slide.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/7588_slide.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/7588_slide.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
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] | null | null | null |
<mujoco>
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| 38.236842 | 155 | 0.618032 |
4d2935145572c353217bd423396bc25e7cb7bf57
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xml
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XML
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gym/envs/robotics/assets/fetch/random_obj_xml/6025_peg.xml
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Jekyll1021/gym
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1701741df2e6ae9a762fe647122ee8344f586bc9
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[
"Python-2.0",
"OLDAP-2.7"
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gym/envs/robotics/assets/fetch/random_obj_xml/6025_peg.xml
|
Jekyll1021/gym
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1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
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gym/envs/robotics/assets/fetch/random_obj_xml/6025_peg.xml
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Jekyll1021/gym
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1701741df2e6ae9a762fe647122ee8344f586bc9
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[
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4d31e918d3fc7e509d28a0b6dbaa605ebc02512b
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xml
|
XML
|
gym/envs/robotics/assets/fetch/random_obj_xml/895_grasp.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/895_grasp.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
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gym/envs/robotics/assets/fetch/random_obj_xml/895_grasp.xml
|
Jekyll1021/gym
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1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
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<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
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<!--
<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/">
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<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
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<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">
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<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
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<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
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<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
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<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
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<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">
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<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
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<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"/>
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<body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
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<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"/>
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<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
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<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
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solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_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"/>
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<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
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<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"/>
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<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"/>-->
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| 144.018838 | 14,960 | 0.687901 |
4d33e9633dac40844cab6d77d2e222e68cbcf261
| 1,771 |
xml
|
XML
|
gym/envs/robotics/assets/fetch/random_obj_xml/5189_grasp.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/5189_grasp.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/5189_grasp.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
<mujoco>
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| 43.195122 | 201 | 0.670243 |
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xml
|
XML
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gym/envs/robotics/assets/fetch/random_obj_xml/7101_slide.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/7101_slide.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/7101_slide.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
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<mujoco>
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| 38.315789 | 155 | 0.618819 |
4d3664ef4c3f6f5613505ed167b755f6df52cc85
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xml
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XML
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herb_reconf/cluttered_scenes/easy_pushing_glass_1_1_0.4_scene.xml
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wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
|
f55c6b0fac44d9d749e7804d99169a39d30c2111
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[
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herb_reconf/cluttered_scenes/easy_pushing_glass_1_1_0.4_scene.xml
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wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
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f55c6b0fac44d9d749e7804d99169a39d30c2111
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[
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herb_reconf/cluttered_scenes/easy_pushing_glass_1_1_0.4_scene.xml
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wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
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f55c6b0fac44d9d749e7804d99169a39d30c2111
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[
"MIT"
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<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>
| 115.907895 | 944 | 0.685826 |
4d37aefa0cfb61db3ad00aa8b4d18e42ff21c573
| 1,454 |
xml
|
XML
|
gym/envs/robotics/assets/fetch/random_obj_xml/8434_slide.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/8434_slide.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/8434_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/843/843.stl" name="obj0" scale="0.005082909411882717 0.005082909411882717 0.005082909411882717" />
</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="0.015213315605775565 0.0340705460958375 0.2244781074097342">
<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 |
4d391471daed8750739fe0bea2932144922acd0f
| 2,720 |
xml
|
XML
|
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xml
|
XML
|
assets/fetch_complex_objects/fetch/train_scene_hook_361.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_361.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_361.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="0.013857975484885501 0.045019628821877676 0.002153795085234199" pos="0.1568151335392058 0.2426990558296172 0.2021537950852342" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.008298775560428748 0.045372191596897246 0.002151322099473011" pos="0.2057137769481951 -0.08476711676603568 0.20215132209947304" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04346634125267824 0.034977158694179944 0.004396505505738638" pos="-0.2004852697174439 0.2808067231311386 0.20439650550573865" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.011356621857210425 0.01219788847842946 0.0012043671067920438" pos="-0.028633476595624485 0.23559570818899062 0.20120436710679204" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.01810049822257377 0.009686307551657013 0.00031233314853503673" pos="0.23370157300353084 0.20170051673013673 0.20031233314853505" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.009545483155223022 0.03514167307078117 0.0010184077588935446" pos="-0.2161945261157967 0.23215283956760174 0.20101840775889357" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0332285442498459 0.0471038002030553 0.0007754974607506966" pos="0.25325950918253853 0.2254168485834664 0.2007754974607507" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.016006880758304434 0.03418391854148127 0.003640453039972674" pos="0.16739452600326016 0.27226674806238776 0.2036404530399727" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.01842617736634718 0.04055703659342834 0.0029461968004704615" pos="0.20823151036023008 -0.019425559181771135 0.20294619680047046" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.015704846658316028 0.04822048015255872 0.0008887749786609392" pos="-0.27690576441438264 0.23058662839947835 0.20088877497866095" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.005948912452291351 0.03914135490918067 0.001013481354741046" pos="0.022029178278198502 -0.09378081245081035 0.20101348135474106" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.005451758938574807 0.04338486649512838 0.0015688151359555304" pos="0.0007033914313324674 -0.06090437657846853 0.20156881513595554" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.01716372803195364 0.012235275799188677 0.0006787585857458735" pos="-0.24560591992175812 0.25083290804923536 0.20067875858574588" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.013572782306593454 0.006207669438456777 0.00015460201063693826" pos="-0.16792298388947827 0.1454738961447659 0.20015460201063695" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.020334182930725572 0.04740144396044529 0.002550327264621271" pos="0.1691056533947965 0.23503783058079858 0.20255032726462127" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
</body>
<body pos="1.8526470919699998 0.43129636471349997 0.4129999999999999" name="object0">
<light castshadow="false"/>
<geom type="mesh" density="10994.7031789" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
<joint name="object0:joint" type="free" damping="3.493461287998888"></joint>
<site name="object0" pos="-0.47764709196999977 0.2537036352865001 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="0.002504946367765 0.002504946367765 0.002504946367765" file="mujoco_models/A_Ribbon.stl" name="object_mesh"/>
<texture file="textures/obj_textures/polka-dotted_0212.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>
| 88.1875 | 279 | 0.697732 |
4d410f4cbf1d561651c2a21a366f50935864c2e5
| 1,460 |
xml
|
XML
|
gym/envs/robotics/assets/fetch/random_obj_xml/2071_slide.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/2071_slide.xml
|
Jekyll1021/gym
|
1701741df2e6ae9a762fe647122ee8344f586bc9
|
[
"Python-2.0",
"OLDAP-2.7"
] | null | null | null |
gym/envs/robotics/assets/fetch/random_obj_xml/2071_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/207/207.stl" name="obj0" scale="0.0042304633213004995 0.0042304633213004995 0.0042304633213004995" />
</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="0.024559356201250087 0.030506260212523464 0.21499115654985854">
<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>
| 38.421053 | 155 | 0.619863 |
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