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herb_reconf/cluttered_scenes/easy_pushing_002_master_chef_can_1_0.5_scene.xml
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herb_reconf/cluttered_scenes/easy_pushing_002_master_chef_can_1_0.5_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
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0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/> <joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/> </body> </body> </body> <body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700"> <inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/> <joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/> <geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/> <geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/> <body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0"> <inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/> <joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/> <body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683"> <inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/> <joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/> </body> </body> </body> <body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5"> <inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/> <joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/> <body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683"> <inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/> <joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body>--> </body> <light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/> </body> <!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998"> <geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/> <joint name="//unnamed_joint_2" class="/" type="free"/> </body> <body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998"> <geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/> <joint name="//unnamed_joint_3" class="/" type="free"/> </body> <body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998"> <geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/> <joint name="//unnamed_joint_4" class="/" type="free"/> </body> --> <!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998"> <geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/> <joint name="//unnamed_joint_5" class="/" type="free"/> </body>--> <!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998"> <geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/> <joint name="//unnamed_joint_6" class="/" type="free"/> </body>--> <!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998"> <geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325"> <geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/> <joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/> </body> <body name="target_obj" pos="0 0.0 0.325"> <geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/> </body>--> <!--<body name="gen_body_0" pos="0 0.0 0.3549998"> <geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/> <joint name="//unnamed_joint_0" class="/" type="free"/> </body>--> <!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998"> <geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/> </body>--> <!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!-- <body name="virt_box_2" pos="0 .45 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/> </body> <body name="virt_box_3" pos="0 0.57243499223068691 0.3549998"> <geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/> </body> --> <body euler="0 0 3.1330562478409356" name="gen_body_0" pos="-0.05 -0.35 0.30018699999782256"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.8607373410658556 0.766228464802428 0.22414629671647257 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 3.0313336896621133" name="gen_body_gadded_1" pos="0.05666739974072507 -0.35 0.30157512187033864"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.6326779120451224 0.9243265922945155 0.5317517936574582 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 3.2301052313141927" name="gen_body_gadded_2" pos="0.31037946195417015 -0.39108577427939356 0.30065612535256625"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="9.450376004993544e-05 0.6958515800759835 0.9291763430288342 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body></worldbody> <contact> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/> <!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> --> <!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/> <exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/> <exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/> <exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/> <exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/> <exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/> <exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/> <exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>--> </contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/> <position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/> <position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/> <position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/> <position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/> <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" /> <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" /> <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" /> <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" /> <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" /> <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>--> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/> <!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/> <position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/> <position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/> <position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/> <position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>--> </actuator> </mujoco>
115.97076
956
0.685984
7c54d7ee79cd1b84468abf32af2f7f14f012db17
5,004
xml
XML
robosuite/models/assets/grippers/panda_gripper_original/panda_gripper.xml
quantumiracle/robolite
b3166a1c51a1118706177f4a4e7401e7c2c6c404
[ "MIT" ]
null
null
null
robosuite/models/assets/grippers/panda_gripper_original/panda_gripper.xml
quantumiracle/robolite
b3166a1c51a1118706177f4a4e7401e7c2c6c404
[ "MIT" ]
null
null
null
robosuite/models/assets/grippers/panda_gripper_original/panda_gripper.xml
quantumiracle/robolite
b3166a1c51a1118706177f4a4e7401e7c2c6c404
[ "MIT" ]
null
null
null
<mujoco model="panda_hand"> <size njmax="500" nconmax="100" /> <asset> <mesh name="hand" file="meshes/panda_gripper/hand.stl" /> <mesh name="hand_vis" file="meshes/panda_gripper/hand_vis.stl" /> <mesh name="finger" file="meshes/panda_gripper/finger.stl" /> <mesh name="finger_vis" file="meshes/panda_gripper/finger_vis.stl" /> <mesh name="finger_vis2" file="meshes/panda_gripper/finger_longer.stl" /> </asset> <actuator> <position ctrllimited="true" ctrlrange="0 0.04" joint="finger_joint1" kp="1000000" name="gripper_joint1" forcelimited="true" forcerange="-20 20"/> <position ctrllimited="true" ctrlrange="-0.04 0" joint="finger_joint2" kp="1000000" name="gripper_joint2" forcelimited="true" forcerange="-20 20"/> </actuator> <worldbody> <body name="right_gripper" pos="0 0 -0.018"> <site name="ft_frame" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1"></site> <inertial pos="0 0 0.17" quat="0.707107 0.707107 0 0" mass="0.0" diaginertia="0.09 0.07 0.05" /> <!--<geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link7" /> --> <!-- <geom pos="0 0 0.107" quat="0.92388 0 0 -0.382683" type="mesh" contype="0" conaffinity="0" group="1" mesh="hand" name="hand_collision"/> --> <!--<geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link7" /> --> <geom pos="0 0 0." quat="0.707107 0 0 0.707" type="mesh" contype="0" conaffinity="0" group="1" mesh="hand_vis" name="hand_visual" rgba="1 1 1 1"/> <geom pos="0 0 0." quat="0.707107 0 0 0.707" type="mesh" mesh="hand" group="0" name="hand_collision"/> <!-- This site was added for visualization. --> <site name="grip_site" pos="0 0 0.1050" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1"/> <!-- This site was added for visualization. --> <site name="grip_site_cylinder" pos="0 0 0.1399" size="0.005 10" rgba="0 1 0 0.3" type="cylinder" group="1"/> <body name="leftfinger" pos="0 0 0.0524" quat="0.707107 0 0 0.70"> <inertial pos="0 0 0.05" mass="0.1" diaginertia="0.01 0.01 0.005" /> <joint name="finger_joint1" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="0.0 0.04" damping="100"/> <geom quat="0.707107 0.707107 0 0" type="mesh" contype="0" conaffinity="0" group="1" mesh="finger_vis" name="finger1_visual"/> <!-- <geom type="mesh" mesh="finger" solimp="0.9 0.95 0.005" solmix="10000" solref="0.05 1"/> --> <!-- <geom type="mesh" mesh="fingerc" solimp="0.9 0.95 0.005" solmix="10000" solref="0.05 1"/> --> <!-- <geom type="mesh" mesh="fingerb" solimp="0.9 0.95 0.005" solmix="10000" solref="0.05 1"/> --> <geom type="mesh" conaffinity="1" contype="0" solref="0.02 1" friction="0.001 0 0" condim="4" mesh="finger" name="finger1_collision"/> <body name="finger_joint1_tip" pos="0 0.0085 0.056"> <inertial pos="0 0 0" quat="0 0 0 1" mass="0.01" diaginertia="0.01 0.01 0.01" /> <geom size="0.008 0.004 0.008" pos="0 -0.005 -0.015" quat="0 0 0 1" type="box" solref="0.01 0.5" friction = "1 0 0" conaffinity="1" contype="1" name="finger1_tip_collision"/> </body> </body> <body name="rightfinger" pos="0 0 0.0524" quat="0.707107 0 0 0.70"> <inertial pos="0 0 0.05" mass="0.1" diaginertia="0.01 0.01 0.005" /> <joint name="finger_joint2" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="-0.04 0.0" damping="100"/> <geom quat="0 0 0.707107 0.707107" type="mesh" contype="0" conaffinity="0" group="1" mesh="finger_vis" name="finger2_visual"/> <!-- <geom quat="0 0 0 1" type="mesh" mesh="finger" solimp="0.9 0.95 0.005" solmix="10000" solref="0.05 1"/> --> <!-- <geom quat="0 0 0 1" type="mesh" mesh="fingerb" solimp="0.9 0.95 0.005" solmix="10000" solref="0.05 1"/> --> <!-- <geom quat="0 0 0 1" type="mesh" mesh="fingerc" solimp="0.9 0.95 0.005" solmix="10000" solref="0.05 1"/> --> <geom quat="0 0 0 1" type="mesh" conaffinity="1" contype="0" solref="0.02 1" friction="0.001 0 0" condim="4" mesh="finger" name="finger2_collision"/> <body name="finger_joint2_tip" pos="0 -0.0085 0.056"> <inertial pos="0 0 0" quat="0 0 0 1" mass="0.01" diaginertia="0.01 0.01 0.01" /> <geom size="0.008 0.004 0.008" pos="0 0.005 -0.015" quat="0 0 0 1" type="box" solref="0.01 0.5" friction = "1 0 0" conaffinity="1" contype="1" name="finger2_tip_collision"/> </body> </body> </body> </worldbody> <sensor> <force name="force_ee" site="ft_frame"/> <torque name="torque_ee" site="ft_frame"/> </sensor> </mujoco>
68.547945
194
0.567746
7c55980e9b583e399bb6dd862f9e34a9096b4027
87,213
xml
XML
herb_reconf/cluttered_scenes/grasping_potted_plant_2_3_0.4_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_2_3_0.4_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_2_3_0.4_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
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solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="10000" name="herb/wam_1/p_j1_base_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="10000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/> <position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="10000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/> <position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="10000" name="herb/wam_1/p_j4_elbow_pitch_joint"/> <position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/> <position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/> <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" /> <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" /> <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" /> <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" /> <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" /> <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>--> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/> <!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/> <position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/> <position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/> <position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/> <position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position 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Jekyll1021/gym
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null
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gym/envs/robotics/assets/fetch/random_obj_xml/1926_peg.xml
Jekyll1021/gym
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null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/1926_peg.xml
Jekyll1021/gym
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Jekyll1021/gym
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gym/envs/robotics/assets/fetch/random_obj_xml/4357_slide.xml
Jekyll1021/gym
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gym/envs/robotics/assets/fetch/random_obj_xml/4357_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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gym/envs/robotics/assets/fetch/random_obj_xml/8529_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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gym/envs/robotics/assets/fetch/random_obj_xml/8529_peg.xml
Jekyll1021/gym
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gym/envs/robotics/assets/fetch/random_obj_xml/3133_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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gym/envs/robotics/assets/fetch/random_obj_xml/3133_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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gym/envs/robotics/assets/fetch/random_obj_xml/3133_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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gym/envs/robotics/assets/fetch/random_obj_xml/8220_grasp.xml
Jekyll1021/gym
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gym/envs/robotics/assets/fetch/random_obj_xml/8220_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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gym/envs/robotics/assets/fetch/random_obj_xml/4225_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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gym/envs/robotics/assets/fetch/random_obj_xml/4225_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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body_mnist/exp_add_diff_help/envs/3.xml
liusida/thesis-bodies
dceb8a36efd2cefc611f6749a52b56b9d3572f7a
[ "MIT" ]
null
null
null
body_mnist/exp_add_diff_help/envs/3.xml
liusida/thesis-bodies
dceb8a36efd2cefc611f6749a52b56b9d3572f7a
[ "MIT" ]
null
null
null
body_mnist/exp_add_diff_help/envs/3.xml
liusida/thesis-bodies
dceb8a36efd2cefc611f6749a52b56b9d3572f7a
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null
null
null
<mujoco model="ant"> <compiler angle="degree" coordinate="local" inertiafromgeom="true"/> <option integrator="RK4" timestep="0.01"/> <custom> <numeric data="0.0 0.0 0.55 1.0 0.0 0.0 0.0 0.0 1.0 0.0 -1.0 0.0 -1.0 0.0 1.0" name="init_qpos"/> </custom> <default> <joint armature="1" damping="1" limited="true"/> <geom conaffinity="0" condim="3" density="5.0" friction="1.5 0.1 0.1" margin="0.01" rgba="0.8 0.6 0.4 1"/> </default> <worldbody> <body name="torso" pos="0 0 0.5904590426069828"> <geom name="torso_geom" pos="0 0 0" size="0.09045904260698276" type="sphere"/> <!--joint armature="0" damping="0" limited="false" margin="0.01" name="root" pos="0 0 0" type="free"/--> <body name="front_left_leg" pos="0 0 0"> <geom fromto="0.0 0.0 0.0 0.24247010184165924 0.24247010184165924 0.0" name="aux_1_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/> <body name="aux_1" pos="0.24247010184165924 0.24247010184165924 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 0.24247010184165924 0.24247010184165924 0.0" name="left_leg_geom" size="0.06664436198859507" type="capsule" rgba=".8 .5 .3 1"/> <body pos="0.24247010184165924 0.24247010184165924 0" name="front_left_foot"> <joint axis="-1 1 0" name="ankle_1" pos="0.0 0.0 0.0" range="30 100" type="hinge"/> <geom fromto="0.0 0.0 0.0 0.3685361859544036 0.3685361859544036 0.0" name="left_ankle_geom" size="0.04257834979593558" type="capsule" rgba=".8 .5 .3 1"/> </body> </body> </body> <body name="front_right_leg" pos="0 0 0"> <geom fromto="0.0 0.0 0.0 -0.24247010184165924 0.24247010184165924 0.0" name="aux_2_geom" size="0.08" type="capsule"/> <body name="aux_2" pos="-0.24247010184165924 0.24247010184165924 0"> <joint axis="0 0 1" name="hip_2" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/> <geom fromto="0.0 0.0 0.0 -0.24247010184165924 0.24247010184165924 0.0" name="right_leg_geom" size="0.06664436198859507" type="capsule"/> <body pos="-0.24247010184165924 0.24247010184165924 0" name="front_right_foot"> <joint axis="1 1 0" name="ankle_2" pos="0.0 0.0 0.0" range="-100 -30" type="hinge"/> <geom fromto="0.0 0.0 0.0 -0.3685361859544036 0.3685361859544036 0.0" name="right_ankle_geom" size="0.04257834979593558" type="capsule"/> </body> </body> </body> <body name="left_back_leg" pos="0 0 0"> <geom fromto="0.0 0.0 0.0 -0.24247010184165924 -0.24247010184165924 0.0" name="aux_3_geom" size="0.08" type="capsule"/> <body name="aux_3" pos="-0.24247010184165924 -0.24247010184165924 0"> <joint axis="0 0 1" name="hip_3" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/> <geom fromto="0.0 0.0 0.0 -0.24247010184165924 -0.24247010184165924 0.0" name="back_leg_geom" size="0.06664436198859507" type="capsule"/> <body pos="-0.24247010184165924 -0.24247010184165924 0" name="left_back_foot"> <joint axis="-1 1 0" name="ankle_3" pos="0.0 0.0 0.0" range="-100 -30" type="hinge"/> <geom fromto="0.0 0.0 0.0 -0.3685361859544036 -0.3685361859544036 0.0" name="third_ankle_geom" size="0.04257834979593558" type="capsule"/> </body> </body> </body> <body name="right_back_leg" pos="0 0 0"> <geom fromto="0.0 0.0 0.0 0.24247010184165924 -0.24247010184165924 0.0" name="aux_4_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/> <body name="aux_4" pos="0.24247010184165924 -0.24247010184165924 0"> <joint axis="0 0 1" name="hip_4" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/> <geom fromto="0.0 0.0 0.0 0.24247010184165924 -0.24247010184165924 0.0" name="rightback_leg_geom" size="0.06664436198859507" type="capsule" rgba=".8 .5 .3 1"/> <body pos="0.24247010184165924 -0.24247010184165924 0" name="right_back_foot"> <joint axis="1 1 0" name="ankle_4" pos="0.0 0.0 0.0" range="30 100" type="hinge"/> <geom fromto="0.0 0.0 0.0 0.3685361859544036 -0.3685361859544036 0.0" name="fourth_ankle_geom" size="0.04257834979593558" type="capsule" rgba=".8 .5 .3 1"/> </body> </body> </body> </body> </worldbody> <actuator> <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_4" gear="150"/> <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_4" gear="150"/> <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_1" gear="150"/> <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_1" gear="150"/> <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_2" gear="150"/> <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_2" gear="150"/> <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_3" gear="150"/> <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_3" gear="150"/> </actuator> </mujoco>
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opentamp/robot_info/robodesk/desk_shelf.xml
Algorithmic-Alignment-Lab/openTAMP
f0642028d551d0436b3a3dbc3bfb2f23a00adc14
[ "MIT" ]
4
2022-02-13T15:52:18.000Z
2022-03-26T17:33:13.000Z
opentamp/robot_info/robodesk/desk_shelf.xml
Algorithmic-Alignment-Lab/OpenTAMP
eecb950bd273da8cbed4394487630e8453f2c242
[ "MIT" ]
1
2022-02-13T22:48:09.000Z
2022-02-13T22:48:09.000Z
opentamp/robot_info/robodesk/desk_shelf.xml
Algorithmic-Alignment-Lab/OpenTAMP
eecb950bd273da8cbed4394487630e8453f2c242
[ "MIT" ]
null
null
null
<?xml version="1.0"?> <mujoco model="franka_desk_shelf"> <compiler angle="radian"/> <size njmax="2000" nconmax="2000"/> <option timestep="0.002"/> <compiler angle="radian"/> <asset> <texture name="plane_texture" type="2d" height="1" width="1" file="textures/white_marble_tile.png"/> <material name="plane_material" reflectance="0.05" texture="plane_texture" texrepeat="4 4" texuniform="true"/> <!-- Desk meshes --> <mesh name="desk_main" file="meshes/desk_main.stl" scale="0.01 0.01 0.01"/> <mesh name="desk_slide_wood" file="meshes/desk_slide_wood.stl" scale="0.01 0.01 0.01"/> <mesh name="desk_slide_handle" file="meshes/desk_slide_handle.stl" scale="0.01 0.01 0.01"/> <mesh name="desk_drawer_wood" file="meshes/desk_drawer_wood.stl" scale="0.01 0.01 0.01"/> <mesh name="desk_drawer_handle" file="meshes/desk_drawer_handle.stl" scale="0.01 0.01 0.01"/> <texture name="desk_wood_texture" type="cube" height="1" width="1" file="textures/wood.png"/> <texture name="desk_metal_texture" type="cube" height="1" width="1" file="textures/metal.png"/> <material name="desk_wood_material" texture="desk_wood_texture" rgba="0.8 0.8 0.8 1" shininess="0.2" reflectance="0.3" texuniform="false"/> <material name="desk_metal_material" texture="desk_metal_texture" texrepeat="3 3" reflectance="0.7" texuniform="false"/> </asset> <default> <!-- Desk default classes --> <default class="desk_metal"> <geom group="1" contype="0" conaffinity="0" type="mesh" material="desk_metal_material"/> </default> <default class="desk_wood"> <geom group="1" contype="0" conaffinity="0" type="mesh" material="desk_wood_material"/> </default> <default class="desk_drawer"> <geom contype="1" conaffinity="1" group="3" rgba="1 0 0 1"/> <joint limited="true" damping="2" frictionloss="5" armature="0.1"/> </default> <default class="desk_body"> <geom contype="1" conaffinity="1" group="4" rgba="0 1 0 1"/> <joint limited="true" damping="1" frictionloss="0.5" armature=".01"/> </default> </default> <worldbody> <!-- Desk --> <body pos="0 0 0"> <!-- Main --> <body name="desk" pos="0 0 0" childclass="desk_body"> <geom type="box" size="0.6 0.01 0.175" pos="0 0.265 0.935" rgba="0.8 0.9 0.7 1.0"/> <geom type="box" size="0.6 0.11 0.01" pos="0 0.165 1.1" rgba="0.8 0.9 0.7 1.0"/> <geom type="box" size="0.01 0.11 0.175" pos="0.59 .165 .935" rgba="0.8 0.9 0.7 1.0"/> <geom type="box" size="0.01 0.11 0.175" pos="-0.59 .165 .935" rgba="0.8 0.9 0.7 1.0"/> <geom type="box" size="0.01 0.11 0.175" pos="0 .165 .935" rgba="0.8 0.9 0.7 1.0"/> </body> <!-- Slide --> <body name="slide" pos="-0.3 0.04 0.935" childclass="desk_drawer"> <geom type="box" size=".3 .01 .175" pos="0 0 0" rgba="0.8 0.9 0.7 1.0" mass="1"/> <geom type="capsule" size=".014 .042" pos="0 -.065 .08302" quat="0.707107 0.707107 0. 0." rgba="0.8 0.9 0.7 1.0"/> <geom type="capsule" size=".014 .042" pos="0 -.065 -.08302" quat="0.707107 0.707107 0. 0." rgba="0.8 0.9 0.7 1.0"/> <geom type="capsule" size=".014 .08" pos="0 -.11 0" quat="1 0 0 0" rgba="0.8 0.9 0.7 1.0"/> <site name="slide_handle" type="sphere" size=".01" pos="0 -.11 0"/> <joint name="slide_joint" type="slide" pos="0 0 0" axis="1 0 0" limited="true" range="0 .6"/> </body> </body> </worldbody> </mujoco>
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XML
gym/envs/robotics/assets/fetch/random_obj_xml/6195_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/6195_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/6195_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/619/619.stl" name="obj0" scale="0.0071244427261408175 0.0071244427261408175 0.0071244427261408175" /> </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="0.026103487935360027 0.05804438801838354 0.23563669762276634"> <joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" /> </body> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> </mujoco>
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XML
herb_reconf/cluttered_scenes/hard_pushing_019_pitcher_base_2_0.4_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/hard_pushing_019_pitcher_base_2_0.4_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/hard_pushing_019_pitcher_base_2_0.4_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
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target="herb/herb"/> </body> <!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998"> <geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/> <joint name="//unnamed_joint_2" class="/" type="free"/> </body> <body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998"> <geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/> <joint name="//unnamed_joint_3" class="/" type="free"/> </body> <body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998"> <geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/> <joint name="//unnamed_joint_4" class="/" type="free"/> </body> --> <!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998"> <geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/> <joint name="//unnamed_joint_5" class="/" type="free"/> </body>--> <!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998"> <geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/> <joint name="//unnamed_joint_6" class="/" type="free"/> </body>--> <!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998"> <geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325"> <geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/> <joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/> </body> <body name="target_obj" pos="0 0.0 0.325"> <geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/> </body>--> <!--<body name="gen_body_0" pos="0 0.0 0.3549998"> <geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/> <joint name="//unnamed_joint_0" class="/" type="free"/> </body>--> <!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998"> <geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/> </body>--> <!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!-- <body name="virt_box_2" pos="0 .45 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/> </body> <body name="virt_box_3" pos="0 0.57243499223068691 0.3549998"> <geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/> </body> --> <body euler="0 0 0.5177724799140636" name="gen_body_0" pos="0 0 0.30282200006768106"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.17083595767688775 0.7089188583769125 0.5893008656783357 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 0.8911442040869327" name="gen_body_gadded_1" pos="0.19927188062998508 0.0 0.299817017327288"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.29588523344881623 0.05137997284454976 0.5165497723702526 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 1.3708860920799435" name="gen_body_gadded_2" pos="0.04085097794214078 0.29681423736829204 0.3032097978768786"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.4196886319323364 0.7712203464788371 0.5695458512542254 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 3.970096818338679" name="gen_body_gadded_3" pos="0.37220556299507623 -0.3804131428317441 0.2993567310597728"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.47529487671081105 0.6598811434761189 0.2298083000502592 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 3.0008545851749377" name="gen_body_gadded_4" pos="0.3528838124409266 -0.0014192194414313463 0.3014693159827878"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.2810383766651503 0.5620149745893761 0.16733588097147012 1" type="mesh"/><joint class="/" name="gen_joint_gadded_4" type="free"/></body><body euler="0 0 1.8257344053982023" name="gen_body_gadded_5" pos="0.4808545902179421 0.4619588273918223 0.2999051120664523"><geom class="/" mesh="gen_mesh_gadded_5" name="gen_geom_gadded_5" rgba="0.5439924135454465 0.21024085548706783 0.4074520390005164 1" type="mesh"/><joint class="/" name="gen_joint_gadded_5" type="free"/></body></worldbody> <contact> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/> <!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> --> <!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/> <exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/> <exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/> <exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/> <exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/> <exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/> <exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/> <exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>--> </contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/> <position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/> <position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/> <position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/> <position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/> <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" /> <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" /> <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" /> <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" /> <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" /> <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>--> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/> <!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/> <position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/> <position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/> <position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/> <position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position 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<position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>--> </actuator> </mujoco>
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XML
herb_reconf/cluttered_scenes/grasping_055_baseball_4_0.8_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/grasping_055_baseball_4_0.8_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/grasping_055_baseball_4_0.8_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
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geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/> <!--<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>--> <!--<pair geom1="//unnamed_geom_8" geom2="tabletop" friction="1 1 0.005 0.0001 0.0001" />--> <!-- <pair geom1="//unnamed_geom_9" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> --> <pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_0" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-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>
136.929356
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0.686141
7c662c4764b20171989a1625bde5c224c4e58525
2,725
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/3236_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/3236_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/3236_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/323/323.stl" name="obj0" scale="0.006499511155517217 0.006499511155517217 0.006499511155517217" /> </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="0.021158856339517567 0.04 0.019219249472199076" 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="-0.0012477136921835205 0.0001772585576021358 0.02897459563995212" size="0.017355887450507018 0.0201136251465869 0.048432315303103934" type="box" zaxis="0.0 0.0 1.0" /> <site name="object0" pos="-0.00034806997524907296 -0.0002493927970115519 -0.00023847019095273682" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> <site name="handle0" pos="-0.0012477136921835205 0.0001772585576021358 0.01897459563995212" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
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xml
XML
gym_extensions/continuous/mujoco/nervenet_envs/assets/mass/WalkersHalfcheetahone.xml
nicofirst1/gym-extensions
0a5bb74a248484d2a7e5d2cb552e247612650f04
[ "MIT" ]
33
2019-06-06T13:59:51.000Z
2022-03-07T10:36:42.000Z
gym_extensions/continuous/mujoco/nervenet_envs/assets/mass/WalkersHalfcheetahone.xml
nicofirst1/gym-extensions
0a5bb74a248484d2a7e5d2cb552e247612650f04
[ "MIT" ]
8
2019-07-09T16:58:28.000Z
2022-02-10T00:27:39.000Z
gym_extensions/continuous/mujoco/nervenet_envs/assets/mass/WalkersHalfcheetahone.xml
nicofirst1/gym-extensions
0a5bb74a248484d2a7e5d2cb552e247612650f04
[ "MIT" ]
12
2019-06-07T10:43:12.000Z
2022-03-09T13:47:01.000Z
<mujoco model="cheetah"> <compiler angle="degree" coordinate="global" inertiafromgeom="true"/> <default> <joint armature="0.01" damping=".1" limited="true"/> <geom conaffinity="0" condim="3" contype="1" density="1000" friction=".7 .1 .1" rgba="0.8 0.6 .4 1"/> </default> <option integrator="RK4" timestep="0.002"/> <asset> <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/> <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/> <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/> <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/> <material name="geom" texture="texgeom" texuniform="true"/> </asset> <worldbody> <light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/> <geom conaffinity="1" condim="3" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane"/> <body name="torso" pos="0 0 1.25"> <joint armature="0" axis="1 0 0" damping="0" limited="false" name="rootx" pos="0 0 0" stiffness="0" type="slide"/> <joint armature="0" axis="0 0 1" damping="0" limited="false" name="rootz" pos="0 0 0" ref="1.25" stiffness="0" type="slide"/> <joint armature="0" axis="0 1 0" damping="0" limited="false" name="rooty" pos="0 0 1.25" stiffness="0" type="hinge"/> <geom fromto="-.5 0 1.05 .5 0 1.05" name="torso" size="0.046" type="capsule" density="600"/> <site name="front" pos="-.5 0 1.05" size="0.08 0.08" rgba="0.8 0.6 .4 1"/> <site name="back" pos=".5 0 1.05" size="0.08 0.08" rgba="0.8 0.6 .4 1"/> <body name="headbody" pos=".5 0 1.05"> <joint axis="0 -1 0" name="neckjoint" pos=".5 0 1.05" range="-50 50" type="hinge"/> <geom fromto=".5 0 1.05 .5 0 1.65" name="neck" size="0.046" type="capsule" density="600"/> <geom fromto=".5 0 1.65 .8 0 1.46" name="head" size="0.046" type="capsule" density="600"/> <site name="tip" pos=".5 0 1.65" size="0.08 0.08" rgba="0.8 0.6 .4 1"/> </body> <body name="thigh_1" pos="0.5 0 1.05"> <joint axis="0 -1 0" name="thighjoint_1" pos="0.5 0 1.05" range="-50 50" type="hinge"/> <geom friction="0.9" fromto="0.5 0 1.05 0.5 0 0.6" name="thighgeom_1" size="0.05" type="capsule"/> <body name="leg_1" pos="0.5 0 0.35"> <joint axis="0 -1 0" name="legjoint_1" pos="0.5 0 0.6" range="-150 0" type="hinge"/> <geom friction="0.9" fromto="0.5 0 0.6 0.5 0 0.1" name="leggeom_1" size="0.04" type="capsule"/> <body name="foot_1" pos="0.565 0 0.1"> <joint axis="0 -1 0" name="footjoint_1" pos="0.5 0 0.1" range="-45 45" type="hinge"/> <geom friction="2.0" fromto="0.37 0 0.1 0.76 0 0.1" name="footgeom_1" size="0.06" type="capsule"/> </body> </body> </body> <body name="thigh_2" pos="-0.5 0 1.05"> <joint axis="0 -1 0" name="thighjoint_2" pos="-0.5 0 1.05" range="-50 50" type="hinge"/> <geom friction="0.9" fromto="-0.5 0 1.05 -0.5 0 0.6" name="thighgeom_2" size="0.05" type="capsule"/> <body name="leg_2" pos="-0.5 0 0.35"> <joint axis="0 -1 0" name="legjoint_2" pos="-0.5 0 0.6" range="-150 0" type="hinge"/> <geom friction="0.9" fromto="-0.5 0 0.6 -0.5 0 0.1" name="leggeom_2" size="0.04" type="capsule"/> <body name="foot_2" pos="-0.435 0 0.1"> <joint axis="0 -1 0" name="footjoint_2" pos="-0.5 0 0.1" range="-45 45" type="hinge"/> <geom friction="2.0" fromto="-0.63 0 0.1 -0.24 0 0.1" name="footgeom_2" size="0.06" type="capsule"/> </body> </body> </body> </body> </worldbody> <actuator> <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="thighjoint_1"/> <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="legjoint_1"/> <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="footjoint_1"/> <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="thighjoint_2"/> <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="legjoint_2"/> <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="footjoint_2"/> <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="neckjoint"/> </actuator> </mujoco>
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XML
gym/envs/robotics/assets/fetch/random_obj_xml/2459_slide.xml
Jekyll1021/gym
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gym/envs/robotics/assets/fetch/random_obj_xml/2459_slide.xml
Jekyll1021/gym
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null
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gym/envs/robotics/assets/fetch/random_obj_xml/2459_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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null
null
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xml
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herb_reconf/cluttered_scenes/grasping_036_wood_block_4_0.2_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
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null
null
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herb_reconf/cluttered_scenes/grasping_036_wood_block_4_0.2_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
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null
null
null
herb_reconf/cluttered_scenes/grasping_036_wood_block_4_0.2_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
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null
null
null
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-0.09727290739681006 0.3011091618345877"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.010117293452459597 0.8800261223325547 0.39121195170752776 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 1.7684109101566494" name="gen_body_gadded_3" pos="-0.2676868049333808 0.27271438558774236 0.30384915825466224"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.8080837203966789 0.9518938328217246 0.4547921649072747 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 5.392636654462197" name="gen_body_gadded_4" pos="0.12754403150819532 -0.2213678631871777 0.3004986463550339"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.7543426360731779 0.7644521413765866 0.1503698375052196 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" 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geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_3" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="10000" name="herb/wam_1/p_j1_base_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="10000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/> <position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="10000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/> <position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="10000" name="herb/wam_1/p_j4_elbow_pitch_joint"/> <position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/> <position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/> <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" /> <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" /> <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" /> <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" /> <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" /> <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>--> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/> <!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/> <position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/> <position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/> <position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/> <position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>--> </actuator> </mujoco>
151.339089
19,113
0.689512
7c6ed24dd2faa70e3b35e6c90c236179067e6d77
1,455
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/3028_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/3028_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/3028_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
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herb_reconf/cluttered_scenes/hard_pushing_006_mustard_bottle_1_0.4_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
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null
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herb_reconf/cluttered_scenes/hard_pushing_006_mustard_bottle_1_0.4_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/hard_pushing_006_mustard_bottle_1_0.4_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
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pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/> <joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/> <geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/> <geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/> <body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0"> <inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/> <joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/> <body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683"> <inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/> <joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/> </body> </body> </body> <body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5"> <inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/> <joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/> <body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683"> <inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/> <joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body>--> </body> <light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/> </body> <!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998"> <geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/> <joint name="//unnamed_joint_2" class="/" type="free"/> </body> <body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998"> <geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/> <joint name="//unnamed_joint_3" class="/" type="free"/> </body> <body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998"> <geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/> <joint name="//unnamed_joint_4" class="/" type="free"/> </body> --> <!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998"> <geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/> <joint name="//unnamed_joint_5" class="/" type="free"/> </body>--> <!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998"> <geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/> <joint name="//unnamed_joint_6" class="/" type="free"/> </body>--> <!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998"> <geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325"> <geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/> <joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/> </body> <body name="target_obj" pos="0 0.0 0.325"> <geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/> </body>--> <!--<body name="gen_body_0" pos="0 0.0 0.3549998"> <geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/> <joint name="//unnamed_joint_0" class="/" type="free"/> </body>--> <!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998"> <geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/> </body>--> <!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!-- <body name="virt_box_2" pos="0 .45 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/> </body> <body name="virt_box_3" pos="0 0.57243499223068691 0.3549998"> <geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/> </body> --> <body euler="0 0 5.511232821670911" name="gen_body_0" pos="0 0 0.3031530000269413"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.5233928297818823 0.7411824783466785 0.41821034096241094 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 0.518591097817278" name="gen_body_gadded_1" pos="0.12884959573181082 0.0 0.3060127293342456"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.4547799032791774 0.3737164601929035 0.979996672927503 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 1.583661681399827" name="gen_body_gadded_2" pos="0.0029090887846090346 -0.1485602017786884 0.29953363907938046"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.43691061727229075 0.6535976563064814 0.48701716939923856 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 5.7643535052828305" name="gen_body_gadded_3" pos="0.35328532866259377 -0.004455167492858102 0.30024783536353045"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.5877992011501156 0.5033213298960924 0.49604999392720395 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 5.88346541985265" name="gen_body_gadded_4" pos="0.14870061684276675 0.5610317634338545 0.30849283330431937"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.40007046514119704 0.9427088134218625 0.6791663717008416 1" type="mesh"/><joint class="/" name="gen_joint_gadded_4" type="free"/></body></worldbody> <contact> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/> <!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> --> <!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/> <exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/> <exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/> <exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/> <exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/> <exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/> <exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/> <exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>--> </contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/> <position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/> <position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/> <position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/> <position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/> <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" /> <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" /> <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" /> <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" /> <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" /> <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>--> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/> <!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/> <position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/> <position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/> <position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/> <position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>--> </actuator> </mujoco>
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7c6f4895aac30d932be16c9c9a007161211e3ad0
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xml
XML
herb_reconf/cluttered_scenes/hard_pushing_053_mini_soccer_ball_0_0.9_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/hard_pushing_053_mini_soccer_ball_0_0.9_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/hard_pushing_053_mini_soccer_ball_0_0.9_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
<?xml version="1.0" ?><mujoco model="scene"> <compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/> <option apirate="50" collision="predefined" cone="elliptic" impratio="5" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/> <size nconmax="10000" njmax="10000"/> <visual> <global offheight="800" offwidth="800"/> <quality shadowsize="2048"/> <headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/> <map force="0.1" zfar="30.0"/> <rgba haze="0.1499999 0.25 0.3499998 1"/> </visual> <statistic center="0.2 0 0.5" extent="10.0"/> <default> <default class="/"/> <default class="geom0"> <geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/> </default> <default class="herb/"> <joint damping="1.0"/> <default class="herb/viz"> <geom conaffinity="0" contype="0" group="1"/> </default> </default> <default class="herb/wam/"> <joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/> <default class="herb/wam/viz"> <geom conaffinity="0" contype="0" group="1" type="mesh"/> </default> <default class="herb/wam/col"> <geom conaffinity="1" contype="0" group="0" type="mesh"/> </default> </default> <default class="herb/wam/bhand/"> <joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/> <default class="herb/wam/bhand/col"> <geom conaffinity="1" contype="0" group="0" type="mesh"/> </default> <default class="herb/wam/bhand/viz"> <geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/> </default> </default> <default class="herb/wam_1/"> <joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/> <default class="herb/wam_1/viz"> <geom conaffinity="0" contype="0" group="1" type="mesh"/> </default> <default class="herb/wam_1/col"> <geom conaffinity="1" condim="4" contype="1" group="0" 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name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/> </body> </body> </body> <body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5"> <inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/> <joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/> <body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683"> <inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/> <joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body>--> </body> <light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/> </body> <!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998"> <geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/> <joint name="//unnamed_joint_2" class="/" type="free"/> </body> <body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998"> <geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/> <joint name="//unnamed_joint_3" class="/" type="free"/> </body> <body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998"> <geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/> <joint name="//unnamed_joint_4" class="/" type="free"/> </body> --> <!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998"> <geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/> <joint name="//unnamed_joint_5" class="/" type="free"/> </body>--> <!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998"> <geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/> <joint name="//unnamed_joint_6" class="/" type="free"/> </body>--> <!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998"> <geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325"> <geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/> <joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/> </body> <body name="target_obj" pos="0 0.0 0.325"> <geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/> </body>--> <!--<body name="gen_body_0" pos="0 0.0 0.3549998"> <geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/> <joint name="//unnamed_joint_0" class="/" type="free"/> </body>--> <!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998"> <geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/> </body>--> <!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!-- <body name="virt_box_2" pos="0 .45 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/> </body> <body name="virt_box_3" pos="0 0.57243499223068691 0.3549998"> <geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/> </body> --> <body euler="0 0 4.971858439266317" name="gen_body_0" pos="0 0 0.3005230000242591"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.318812654374136 0.9258753071091901 0.9381222898591499 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 2.728732654062032" name="gen_body_gadded_1" pos="0.20154442652664817 0.0 0.30149209318839076"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.927367145890988 0.959995654474838 0.8303782568523709 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 3.9341910800240525" name="gen_body_gadded_2" pos="-0.2809808761196584 0.09344141081955813 0.30010516792612374"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.3788907615959298 0.31824051039216816 0.7606269384970095 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 4.441414772557108" name="gen_body_gadded_3" pos="0.515469590328472 0.06881759220317603 0.31492802603330505"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.6617505974021917 0.15292016001750397 0.625335485069039 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 2.865347970557419" name="gen_body_gadded_4" pos="-0.10196671532545881 0.48056851296797615 0.3077774366956946"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.45799298345735784 0.4136562890748231 0.21389891188363164 1" type="mesh"/><joint class="/" name="gen_joint_gadded_4" type="free"/></body></worldbody> <contact> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/> <!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> --> <!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/> <exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/> <exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/> <exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/> <exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/> <exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/> <exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/> <exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>--> </contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/> <position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/> <position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/> <position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/> <position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/> <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" /> <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" /> <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" /> <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" /> <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" /> <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>--> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/> <!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/> <position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/> <position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/> <position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/> <position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>--> </actuator> </mujoco>
117.419591
1,607
0.687443
7c71d7d28a513cf63a6f49c888b9b80f7f518518
2,715
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/4735_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/4735_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/4735_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/473/473.stl" name="obj0" scale="0.005080288562930519 0.005080288562930519 0.005080288562930519" /> </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="0.024147619976888496 0.04 0.02283037989699334" 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="0.0015054318437458375 0.004369675556253628 0.025353387584985745" size="0.02144319897383696 0.022102706582639926 0.05354290603282959" type="box" zaxis="0.0 0.0 1.0" /> <site name="object0" pos="0.002680352084415681 0.006391303513116314 -0.005359138550850501" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> <site name="handle0" pos="0.0015054318437458375 0.004369675556253628 0.015353387584985743" 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>
50.277778
221
0.657827
7c733ccbd1048c9663dbf9ddff2f25cfaf3e4829
2,717
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/6463_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/6463_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/6463_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/646/646.stl" name="obj0" scale="0.006627718876687811 0.006627718876687811 0.006627718876687811" /> </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="0.01675846554389795 0.04 0.00899959720038527" 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="0.00412410577045808 0.0005471870540323538 0.041070924155228374" size="0.011421566571450516 0.014620554074209108 0.05014165002292155" type="box" zaxis="0.0 0.0 1.0" /> <site name="object0" pos="-0.0002244546205849079 -0.0009291161653573792 -7.112866730790975e-05" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> <site name="handle0" pos="0.00412410577045808 0.0005471870540323538 0.03107092415522837" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
50.314815
221
0.656975
7c73811b69f707801477b4eb713176c03581555e
9,491
xml
XML
include/robot.xml
wisdomagboh/parareal-robotics
77e953a33573fef225ee40e3b68feb815a1e90dd
[ "MIT" ]
5
2020-04-30T19:42:05.000Z
2020-08-01T19:29:58.000Z
include/robot.xml
wisdomagboh/parareal-manip
77e953a33573fef225ee40e3b68feb815a1e90dd
[ "MIT" ]
null
null
null
include/robot.xml
wisdomagboh/parareal-manip
77e953a33573fef225ee40e3b68feb815a1e90dd
[ "MIT" ]
null
null
null
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Jekyll1021/gym
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gym/envs/robotics/assets/fetch/random_obj_xml/8416_peg.xml
Jekyll1021/gym
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2021-11-22T07:45:28.000Z
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gym/envs/robotics/assets/fetch/random_obj_xml/8345_grasp.xml
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wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
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wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
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wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
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name="gen_geom_gadded_2" rgba="0.7300894573573833 0.7073622882907626 0.23372355185355054 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 1.8974117504735306" name="gen_body_gadded_3" pos="0.26034035808979283 -0.049791747233510555 0.3003150323973605"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.37343891134807483 0.35884981401920035 0.862519534689986 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 0.20707214391798026" name="gen_body_gadded_4" pos="-0.26853329595488495 0.4135982969417363 0.30202195059565046"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.5941024065229195 0.5408666428036197 0.03148367512744921 1" type="mesh"/><joint class="/" name="gen_joint_gadded_4" type="free"/></body></worldbody> <contact> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 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0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_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>
145.380117
19,113
0.691583
7c7b1080d85d4e0c541beb85c4e30ab07335b53c
3,111
xml
XML
vendor/mujoco_models/snake.xml
leopauly/Observation-Learning-Simulations
462c04a87c45aae51537b8ea5b44646afa31d3a5
[ "MIT" ]
49
2017-12-11T11:00:02.000Z
2022-03-30T05:19:31.000Z
vendor/mujoco_models/snake.xml
leopauly/Observation-Learning-Simulations
462c04a87c45aae51537b8ea5b44646afa31d3a5
[ "MIT" ]
2
2018-01-01T17:39:56.000Z
2019-07-24T04:49:08.000Z
vendor/mujoco_models/snake.xml
leopauly/Observation-Learning-Simulations
462c04a87c45aae51537b8ea5b44646afa31d3a5
[ "MIT" ]
12
2017-12-13T11:52:17.000Z
2020-12-03T00:53:29.000Z
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wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
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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>
118.156433
1,960
0.688068
7c7ba8cab90667bf820be7d4a96fc949f8d86b62
1,455
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/5104_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/5104_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/5104_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
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herb_reconf/cluttered_scenes/grasping_011_banana_3_0.3_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
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herb_reconf/cluttered_scenes/grasping_011_banana_3_0.3_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/grasping_011_banana_3_0.3_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
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null
null
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0.019985793222474867 0.3004525912770334"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.46975946639095445 0.15272769414094778 0.8606956931646763 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 5.2251215704009475" name="gen_body_gadded_3" pos="0.17261263737228494 -0.0025589539452272442 0.3000902847896646"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.9929663518888244 0.7529929369445635 0.31190841688960935 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 0.7118720727204704" name="gen_body_gadded_4" pos="-0.06391448467595218 -0.21917368266482604 0.46554073400392004"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.1559674369917784 0.7828888289513095 0.8621729898695593 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" 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/> <pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> --> <pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair 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0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_3" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="10000" name="herb/wam_1/p_j1_base_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="10000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/> <position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="10000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/> <position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="10000" name="herb/wam_1/p_j4_elbow_pitch_joint"/> <position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/> <position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/> <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" /> <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" /> <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" /> <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" /> <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" /> <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>--> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/> <!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/> <position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/> <position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/> <position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/> <position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>--> </actuator> </mujoco>
151.318681
19,113
0.68948
7c7d22f26d6de34b3f603f6e16f08e478933e66f
1,453
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/5932_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/5932_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/5932_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/593/593.stl" name="obj0" scale="0.022965746615871325 0.022965746615871325 0.022965746615871325" /> </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="0.03626386698494538 0.1430465277716849 0.2270993398663887"> <joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" /> </body> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> </mujoco>
38.236842
155
0.618032
7c7d6f86f3bdc99b209c39c7626c48f58e28c947
1,772
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/1356_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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Jekyll1021/gym
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Jekyll1021/gym
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</body>--> <!--<body name="gen_body_0" pos="0 0.0 0.3549998" euler="0 0 0.5"> <geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/> <joint name="//unnamed_joint_0" class="/" type="free"/> </body> <body name="box_0" pos="0.175 0.0 0.3725"> <geom name="box_geom_0" class="/" type="box" group="1" size="0.055 0.055 0.065" rgba="0 0 0 1"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!--<body name="target_obj" pos="-0.053464621446560029 -0.5 0.3549998"> <geom name="//unnamed_geom_15" class="geom0" type="box" contype="0" conaffinity="0" group="1" size="0.055 0.055 0.055" rgba="0 0 0 0.1666"/> </body>--> <!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!-- <body name="virt_box_2" pos="0 .45 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/> </body> <body name="virt_box_3" pos="0 0.57243499223068691 0.3549998"> <geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/> </body> --> <body euler="0 0 5.839926666540171" name="gen_body_0" pos="0 0 0.3005319999763742"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.1025799929835094 0.34892405822638684 0.8516855904697418 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 2.7145018874167324" name="gen_body_gadded_1" pos="0.26968903198539484 0.0 0.30079163799307923"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.5168379342895357 0.16751739871247806 0.37865211409567934 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 1.535853976353101" name="gen_body_gadded_2" pos="0.22572785299794138 0.3559980771298531 0.3007041032144359"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.10327506741600712 0.8411231374436293 0.9727772039036562 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 4.290937771568752" name="gen_body_gadded_3" pos="0.44060958778787696 -0.05883181492404374 0.3004105035447752"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.1019765141181902 0.6572105642812368 0.31505847335245907 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 2.5295401749369484" name="gen_body_gadded_4" pos="0.02827665612958126 0.1384670832456349 0.30047807284357886"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.9283006400366083 0.0005491267890804785 0.9205425038540771 1" type="mesh"/><joint class="/" name="gen_joint_gadded_4" type="free"/></body><body euler="0 0 3.7530012407110642" name="gen_body_gadded_5" pos="0.39811755727430476 0.060646383142721055 0.30025349346837554"><geom class="/" mesh="gen_mesh_gadded_5" name="gen_geom_gadded_5" rgba="0.5875458720237455 0.26989894300086414 0.2288206050778644 1" type="mesh"/><joint class="/" name="gen_joint_gadded_5" type="free"/></body></worldbody> <contact> <!--<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="box_geom_0" geom2="table_plane"/>--> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/> <!--<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>--> <!--<pair geom1="//unnamed_geom_8" geom2="tabletop" friction="1 1 0.005 0.0001 0.0001" />--> <!-- <pair geom1="//unnamed_geom_9" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> --> </contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="10000" name="herb/wam_1/p_j1_base_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="10000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/> <position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="10000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/> <position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="10000" name="herb/wam_1/p_j4_elbow_pitch_joint"/> <position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/> <position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/> <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" /> <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" /> <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" /> <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" /> <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" /> <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>--> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/> <!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/> <position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/> <position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/> <position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/> <position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>--> </actuator> </mujoco>
122.133438
1,953
0.685549
7c8784f927f5b4c8c1a14de869a28ed7b020b78d
18,677
xml
XML
cassie/misc/cassiemujoco/terrain_random_hills.xml
WooQi57/cassie-run
9aac12e3a69a011735540d9f5711b8f06da9af81
[ "MIT" ]
36
2019-10-01T22:50:12.000Z
2022-02-09T06:17:16.000Z
cassie/misc/cassiemujoco/terrain_random_hills.xml
WooQi57/cassie-run
9aac12e3a69a011735540d9f5711b8f06da9af81
[ "MIT" ]
5
2019-11-26T02:35:39.000Z
2020-11-29T23:20:48.000Z
cassie/misc/cassiemujoco/terrain_random_hills.xml
WooQi57/cassie-run
9aac12e3a69a011735540d9f5711b8f06da9af81
[ "MIT" ]
24
2019-09-23T19:26:48.000Z
2022-02-14T14:04:18.000Z
<!-- Cassie simulation model developed by the Dynamic Robotics Laboratory --> <mujoco model='cassie'> <compiler inertiafromgeom='auto' angle='degree' eulerseq='zyx' meshdir='cassie-stl-meshes'/> <size nuser_actuator='1' nuser_sensor='1' nuser_geom='1' njmax="2000" nconmax="2000"/> <option timestep='0.0005' iterations='50' solver='PGS' gravity='0 0 -9.81'/> <!-- Timestep is set to 0.0005 because our controller runs at 2 kHz --> <!-- Larger values still have stable dynamics --> <visual> <quality shadowsize='4096'/> <map znear='0.05'/> </visual> <default> <joint limited='true'/> <motor ctrllimited='true'/> <geom contype='0' conaffinity='0' condim='1' solref='0.005 1'/> <equality solref='0.005 1'/> <default class='cassie'> <geom material='cassie'/> </default> <default class='collision'> <!-- User parameter for geoms is used to identify collision types --> <geom material='collision' contype='1' user='2'/> <default class='collision-left'> <geom contype='2' conaffinity='4'/> </default> <default class='collision-right'> <geom contype='4' conaffinity='2'/> </default> </default> <default class='obstacle'> <geom material='obstacle' condim='3' contype='8' conaffinity='15' user='1'/> </default> </default> <asset> <texture type='skybox' builtin='gradient' width='128' height='128' rgb1='0.4 0.6 0.8' rgb2='0 0 0'/> <texture name='plane' type='2d' builtin='checker' rgb1='0.2 0.2 0.2' rgb2='0.3 0.3 0.3' width='512' height='512'/> <material name='plane' reflectance='0.0' texture='plane' texrepeat='1 1' texuniform='true'/> <material name='cassie' rgba='0.9 0.5 0.1 1'/> <material name='collision' rgba='0.1 0.5 0.9 0'/> <material name='obstacle' rgba='0.2 0.6 0.2 1'/> <mesh name='cassie-pelvis' file='pelvis.stl'/> <mesh name='left-hip-roll' file='hip-roll.stl'/> <mesh name='left-hip-yaw' file='hip-yaw.stl'/> <mesh name='left-hip-pitch' file='hip-pitch.stl'/> <mesh name='left-achilles-rod' file='achilles-rod.stl'/> <mesh name='left-knee' file='knee.stl'/> <mesh name='left-knee-spring' file='knee-spring.stl'/> <mesh name='left-shin' file='shin.stl'/> <mesh name='left-tarsus' file='tarsus.stl'/> <mesh name='left-heel-spring' file='heel-spring.stl'/> <mesh name='left-foot-crank' file='foot-crank.stl'/> <mesh name='left-plantar-rod' file='plantar-rod.stl'/> <mesh name='left-foot' file='foot.stl'/> <mesh name='right-hip-roll' scale='1 -1 1' file='hip-roll.stl'/> <mesh name='right-hip-yaw' scale='1 -1 1' file='hip-yaw.stl'/> <mesh name='right-hip-pitch' scale='1 1 -1' file='hip-pitch.stl'/> <mesh name='right-achilles-rod' scale='1 1 -1' file='achilles-rod.stl'/> <mesh name='right-knee' scale='1 1 -1' file='knee.stl'/> <mesh name='right-knee-spring' scale='1 1 -1' file='knee-spring.stl'/> <mesh name='right-shin' scale='1 1 -1' file='shin.stl'/> <mesh name='right-tarsus' scale='1 1 -1' file='tarsus.stl'/> <mesh name='right-heel-spring' scale='1 1 -1' file='heel-spring.stl'/> <mesh name='right-foot-crank' scale='1 1 -1' file='foot-crank.stl'/> <mesh name='right-plantar-rod' scale='1 1 -1' file='plantar-rod.stl'/> <mesh name='right-foot' scale='1 1 -1' file='foot.stl'/> <hfield file="terrains/hills.png" name="hills" size="50 50 1 1e-3"/> </asset> <worldbody> <geom name="hills" pos="0 0 0" type="hfield" condim="3" conaffinity="15" hfield="noise"/> <light mode='trackcom' pos='0 0 5' dir='0 0 -1'/> <light directional='true' pos='0 0 3' dir='0 0 -1' diffuse='0.2 0.2 0.2' specular='0 0 0'/> <body name='cassie-pelvis' pos='0 0 1.01' childclass='cassie'> <camera name='track' pos='0 -3 1' zaxis='0 -1 0.5' mode='track'/> <inertial pos='0.05066 0.000346 0.02841' mass='10.33' fullinertia='0.085821 0.049222 0.08626 1.276e-05 -0.00016022 -0.000414'/> <joint type='slide' axis='1 0 0' limited='false'/> <joint type='slide' axis='0 1 0' limited='false'/> <joint type='slide' axis='0 0 1' limited='false' ref='1.0835'/> <joint type='ball' limited='false'/> <geom type='mesh' mesh='cassie-pelvis'/> <geom type='sphere' size='0.15' pos='0.02 0 0.02' class='collision'/> <site name='imu' size='0.01' pos='0.03155 0 -0.07996'/> <body name='left-hip-roll' pos='0.021 0.135 0' xyaxes='0 0 -1 0 1 0'> <inertial pos='-0.01793 0.0001 -0.04428' mass='1.82' fullinertia='0.003431 0.003793 0.002135 -6.65e-07 -0.00084 3.99e-06'/> <joint name='left-hip-roll' type='hinge' range='-15 22.5' damping='1' armature='0.038125'/> <geom type='mesh' mesh='left-hip-roll'/> <body name='left-hip-yaw' pos='0 0 -0.07' xyaxes='0 0 1 0 1 0'> <inertial pos='0 -1e-05 -0.034277' mass='1.171' fullinertia='0.002443 0.002803 0.000842 -4e-08 2.462e-07 -2.71e-08'/> <joint name='left-hip-yaw' type='hinge' range='-22.5 22.5' damping='1' armature='0.038125'/> <geom type='mesh' mesh='left-hip-yaw'/> <body name='left-hip-pitch' pos='0 0 -0.09' xyaxes='0 0 -1 1 0 0'> <inertial pos='0.05946 5e-05 -0.03581' mass='5.52' fullinertia='0.010898 0.029714 0.030257 -0.0002669 -5.721e-05 9.17e-06'/> <joint name='left-hip-pitch' type='hinge' range='-50 80' damping='1' armature='0.09344'/> <geom type='mesh' mesh='left-hip-pitch'/> <geom type='capsule' size='0.08' fromto='0 0 -0.04 0.12 0 -0.0355' class='collision'/> <body name='left-achilles-rod' pos='0 0 0.045' xyaxes='0.7922 -0.60599 -0.072096 0.60349 0.79547 -0.054922'> <inertial pos='0.24719 0 0' mass='0.1567' fullinertia='3.754e-06 0.004487 0.004488 -3.74e-08 -1.61e-08 0'/> <joint name='left-achilles-rod' type='ball' limited='false' damping='0.01'/> <geom type='mesh' mesh='left-achilles-rod'/> </body> <body name='left-knee' pos='0.12 0 0.0045' xyaxes='0.70711 -0.70711 0 0.70711 0.70711 0'> <inertial pos='0.023 0.03207 -0.002181' mass='0.7578' fullinertia='0.001376 0.0010335 0.0021637 -0.00039744 -4.085e-05 -5.374e-05'/> <joint name='left-knee' type='hinge' ref='-45' range='-164 -37' damping='1' armature='0.09344'/> <geom type='mesh' mesh='left-knee'/> <body name='left-knee-spring' pos='0.06068 0.08241 0'> <inertial pos='0.0836 0.0034 0' mass='0.186' fullinertia='5.215e-05 0.00041205 0.0003669 6.87e-06 0 0'/> <geom type='mesh' mesh='left-knee-spring'/> </body> <body name='left-shin' pos='0.06068 0.04741 0'> <inertial pos='0.18338 0.001169 0.0002123' mass='0.577' fullinertia='0.00035939 0.014728 0.014707 -0.00020981 2.266e-05 -1.2e-07'/> <joint name='left-shin' type='hinge' range='-20 20' stiffness='1500' damping='0.1'/> <geom type='mesh' mesh='left-shin'/> <geom type='capsule' size='0.04' fromto='0 0 0 0.43476 0.02 0' class='collision-left'/> <body name='left-tarsus' pos='0.43476 0.02 0' xyaxes='0.52992 0.84805 0 -0.84805 0.52992 0'> <inertial pos='0.11046 -0.03058 -0.00131' mass='0.782' fullinertia='0.00039238 0.013595 0.013674 0.00023651 -4.987e-05 -4.82e-06'/> <joint name='left-tarsus' type='hinge' ref='58' range='50 170' damping='0.1'/> <geom type='mesh' mesh='left-tarsus'/> <geom type='capsule' size='0.04' fromto='-0.01269 -0.03059 0.00092 0.408 -0.04 0' class='collision-left'/> <body name='left-heel-spring' pos='-0.01269 -0.03059 0.00092' xyaxes='-0.91211 0.40829 0.036948 -0.40992 -0.90952 -0.068841'> <inertial pos='0.081 0.0022 0' mass='0.126' fullinertia='2.959e-05 0.00022231 0.0002007 7.15e-06 -6e-07 1e-07'/> <joint name='left-heel-spring' type='hinge' limited='false' stiffness='1250'/> <geom type='mesh' mesh='left-heel-spring'/> </body> <body name='left-foot-crank' pos='0.058 -0.034 0.02275'> <inertial pos='0.00493 2e-05 -0.00215' mass='0.1261' fullinertia='2.6941e-05 4.9621e-05 6.3362e-05 -2.1e-09 -3.9623e-06 -1.09e-08'/> <joint name='left-foot-crank' type='hinge' range='-140 -30' damping='1'/> <geom type='mesh' mesh='left-foot-crank'/> <body name='left-plantar-rod' pos='0.055 0 -0.00791'> <inertial pos='0.17792 0 0' mass='0.1186' fullinertia='2.779e-06 0.001774 0.001775 -2.34e-08 -8.1e-09 0'/> <joint name='left-plantar-rod' type='hinge' limited='false'/> <geom type='mesh' mesh='left-plantar-rod'/> </body> </body> <body name='left-foot' pos='0.408 -0.04 0'> <inertial pos='0.00474 0.02748 -0.00014' mass='0.1498' fullinertia='0.00017388 0.00016793 0.00033261 0.00011814 1.36e-06 -4e-07'/> <joint name='left-foot' type='hinge' range='-140 -30' damping='1' armature='0.01225'/> <geom type='mesh' mesh='left-foot'/> <geom type='capsule' size='0.02' fromto='-0.052821 0.092622 0 0.069746 -0.010224 0' class='collision-left'/> </body> </body> </body> </body> </body> </body> </body> <body name='right-hip-roll' pos='0.021 -0.135 0' xyaxes='0 0 -1 0 1 0'> <inertial pos='-0.01793 0.0001 -0.04428' mass='1.82' fullinertia='0.003431 0.003793 0.002135 6.65e-07 -0.00084 -3.99e-06'/> <joint name='right-hip-roll' type='hinge' range='-22.5 15' damping='1' armature='0.038125'/> <geom type='mesh' mesh='right-hip-roll'/> <body name='right-hip-yaw' pos='0 0 -0.07' xyaxes='0 0 1 0 1 0'> <inertial pos='0 1e-05 -0.034277' mass='1.171' fullinertia='0.002443 0.002803 0.000842 4e-08 2.462e-07 2.71e-08'/> <joint name='right-hip-yaw' type='hinge' range='-22.5 22.5' damping='1' armature='0.038125'/> <geom type='mesh' mesh='right-hip-yaw'/> <body name='right-hip-pitch' pos='0 0 -0.09' xyaxes='0 0 -1 1 0 0'> <inertial pos='0.05946 5e-05 0.03581' mass='5.52' fullinertia='0.010898 0.029714 0.030257 -0.0002669 5.721e-05 -9.17e-06'/> <joint name='right-hip-pitch' type='hinge' range='-50 80' damping='1' armature='0.09344'/> <geom type='mesh' mesh='right-hip-pitch'/> <geom type='capsule' size='0.08' fromto='0 0 0.04 0.12 0 0.0355' class='collision'/> <body name='right-achilles-rod' pos='0 0 -0.045' xyaxes='0.7922 -0.60599 0.072096 0.60349 0.79547 0.054922'> <inertial pos='0.24719 0 0' mass='0.1567' fullinertia='3.754e-06 0.004487 0.004488 -3.74e-08 1.61e-08 0'/> <joint name='right-achilles-rod' type='ball' limited='false' damping='0.01'/> <geom type='mesh' mesh='right-achilles-rod'/> </body> <body name='right-knee' pos='0.12 0 -0.0045' xyaxes='0.70711 -0.70711 0 0.70711 0.70711 0'> <inertial pos='0.023 0.03207 0.002181' mass='0.7578' fullinertia='0.001376 0.0010335 0.0021637 -0.00039744 4.085e-05 5.374e-05'/> <joint name='right-knee' type='hinge' ref='-45' range='-164 -37' damping='1' armature='0.09344'/> <geom type='mesh' mesh='right-knee'/> <body name='right-knee-spring' pos='0.06068 0.08241 0'> <inertial pos='0.0836 0.0034 0' mass='0.186' fullinertia='5.215e-05 0.00041205 0.0003669 6.87e-06 0 0'/> <geom type='mesh' mesh='right-knee-spring'/> </body> <body name='right-shin' pos='0.06068 0.04741 0'> <inertial pos='0.18338 0.001169 -0.0002123' mass='0.577' fullinertia='0.00035939 0.014728 0.014707 -0.00020981 -2.266e-05 1.2e-07'/> <joint name='right-shin' type='hinge' range='-20 20' stiffness='1500' damping='0.1'/> <geom type='mesh' mesh='right-shin'/> <geom type='capsule' size='0.04' fromto='0 0 0 0.43476 0.02 0' class='collision-right'/> <body name='right-tarsus' pos='0.43476 0.02 0' xyaxes='0.52992 0.84805 0 -0.84805 0.52992 0'> <inertial pos='0.11046 -0.03058 0.00131' mass='0.782' fullinertia='0.00039238 0.013595 0.013674 0.00023651 4.987e-05 4.82e-06'/> <joint name='right-tarsus' type='hinge' ref='58' range='50 170' damping='0.1'/> <geom type='mesh' mesh='right-tarsus'/> <geom type='capsule' size='0.04' fromto='-0.01269 -0.03059 -0.00092 0.408 -0.04 0' class='collision-right'/> <body name='right-heel-spring' pos='-0.01269 -0.03059 -0.00092' xyaxes='-0.91211 0.40829 -0.036948 -0.40992 -0.90952 0.068841'> <inertial pos='0.081 0.0022 0' mass='0.126' fullinertia='2.959e-05 0.00022231 0.0002007 7.15e-06 6e-07 -1e-07'/> <joint name='right-heel-spring' type='hinge' limited='false' stiffness='1250'/> <geom type='mesh' mesh='right-heel-spring'/> </body> <body name='right-foot-crank' pos='0.058 -0.034 -0.02275'> <inertial pos='0.00493 2e-05 0.00215' mass='0.1261' fullinertia='2.6941e-05 4.9621e-05 6.3362e-05 -2.1e-09 3.9623e-06 1.09e-08'/> <joint name='right-foot-crank' type='hinge' range='-140 -30' damping='1'/> <geom type='mesh' mesh='right-foot-crank'/> <body name='right-plantar-rod' pos='0.055 0 0.00791'> <inertial pos='0.17792 0 0' mass='0.1186' fullinertia='2.779e-06 0.001774 0.001775 -2.34e-08 8.1e-09 0'/> <joint name='right-plantar-rod' type='hinge' limited='false'/> <geom type='mesh' mesh='right-plantar-rod'/> </body> </body> <body name='right-foot' pos='0.408 -0.04 0'> <inertial pos='0.00474 0.02748 0.00014' mass='0.1498' fullinertia='0.00017388 0.00016793 0.00033261 0.00011814 -1.36e-06 4e-07'/> <joint name='right-foot' type='hinge' range='-140 -30' damping='1' armature='0.01225'/> <geom type='mesh' mesh='right-foot'/> <geom type='capsule' size='0.02' fromto='-0.052821 0.092622 0 0.069746 -0.010224 0' class='collision-right'/> </body> </body> </body> </body> </body> </body> </body> </body> <!-- Add any other moving bodies after the Cassie definition --> <!-- <body name='box' pos='2 0 0.2'> --> <!-- <freejoint/> --> <!-- <geom type='box' size='0.1 0.1 0.1' mass='3' class='obstacle'/> --> <!-- </body> --> </worldbody> <equality> <connect body1='left-plantar-rod' body2='left-foot' anchor='0.35012 0 0'/> <connect body1='left-achilles-rod' body2='left-heel-spring' anchor='0.5012 0 0'/> <connect body1='right-plantar-rod' body2='right-foot' anchor='0.35012 0 0'/> <connect body1='right-achilles-rod' body2='right-heel-spring' anchor='0.5012 0 0'/> </equality> <actuator> <!-- User parameter is the maximum no-load motor RPM --> <motor name='left-hip-roll' joint='left-hip-roll' gear='25' ctrllimited='true' ctrlrange='-4.5 4.5' user='2900'/> <motor name='left-hip-yaw' joint='left-hip-yaw' gear='25' ctrllimited='true' ctrlrange='-4.5 4.5' user='2900'/> <motor name='left-hip-pitch' joint='left-hip-pitch' gear='16' ctrllimited='true' ctrlrange='-12.2 12.2' user='1300'/> <motor name='left-knee' joint='left-knee' gear='16' ctrllimited='true' ctrlrange='-12.2 12.2' user='1300'/> <motor name='left-foot' joint='left-foot' gear='50' ctrllimited='true' ctrlrange='-0.9 0.9' user='5500'/> <motor name='right-hip-roll' joint='right-hip-roll' gear='25' ctrllimited='true' ctrlrange='-4.5 4.5' user='2900'/> <motor name='right-hip-yaw' joint='right-hip-yaw' gear='25' ctrllimited='true' ctrlrange='-4.5 4.5' user='2900'/> <motor name='right-hip-pitch' joint='right-hip-pitch' gear='16' ctrllimited='true' ctrlrange='-12.2 12.2' user='1300'/> <motor name='right-knee' joint='right-knee' gear='16' ctrllimited='true' ctrlrange='-12.2 12.2' user='1300'/> <motor name='right-foot' joint='right-foot' gear='50' ctrllimited='true' ctrlrange='-0.9 0.9' user='5500'/> </actuator> <sensor> <!-- User parameter is the number of absolute encoder bits --> <actuatorpos name='left-hip-roll-input' actuator='left-hip-roll' user='13'/> <actuatorpos name='left-hip-yaw-input' actuator='left-hip-yaw' user='13'/> <actuatorpos name='left-hip-pitch-input' actuator='left-hip-pitch' user='13'/> <actuatorpos name='left-knee-input' actuator='left-knee' user='13'/> <actuatorpos name='left-foot-input' actuator='left-foot' user='18'/> <jointpos name='left-shin-output' joint='left-shin' user='18' noise='2e-4'/> <jointpos name='left-tarsus-output' joint='left-tarsus' user='18' noise='2e-4'/> <jointpos name='left-foot-output' joint='left-foot' user='13'/> <actuatorpos name='right-hip-roll-input' actuator='right-hip-roll' user='13'/> <actuatorpos name='right-hip-yaw-input' actuator='right-hip-yaw' user='13'/> <actuatorpos name='right-hip-pitch-input' actuator='right-hip-pitch' user='13'/> <actuatorpos name='right-knee-input' actuator='right-knee' user='13'/> <actuatorpos name='right-foot-input' actuator='right-foot' user='18'/> <jointpos name='right-shin-output' joint='right-shin' user='18' noise='2e-4'/> <jointpos name='right-tarsus-output' joint='right-tarsus' user='18' noise='2e-4'/> <jointpos name='right-foot-output' joint='right-foot' user='13'/> <framequat name='pelvis-orientation' objtype='site' objname='imu'/> <gyro name='pelvis-angular-velocity' site='imu' noise='5e-4' cutoff='34.9'/> <accelerometer name='pelvis-linear-acceleration' site='imu' noise='1e-2' cutoff='157'/> <magnetometer name='pelvis-magnetometer' site='imu'/> </sensor> </mujoco>
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2,722
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/4490_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/4490_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/4490_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/449/449.stl" name="obj0" scale="0.006600638281721843 0.006600638281721843 0.006600638281721843" /> </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="0.014472368077993143 0.04 0.009210194025762291" 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="0.00012649940038660153 0.0019298146605447519 0.04657768214913809" size="0.010434902291359427 0.01043701549015505 0.0558169149228821" type="box" zaxis="0.0 0.0 1.0" /> <site name="object0" pos="1.059475903365942e-05 -0.0004809576266534139 -2.9038747981715938e-05" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> <site name="handle0" pos="0.00012649940038660153 0.0019298146605447519 0.03657768214913809" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
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0.657605
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17,474
xml
XML
robosuite/scripts/~/Robotics/1579651840_823234/ep_1579652506_4294672/model.xml
clj003/mod_surreal2
1c91ed1d85acdb8b82dae46c49153d547301d2d9
[ "MIT" ]
null
null
null
robosuite/scripts/~/Robotics/1579651840_823234/ep_1579652506_4294672/model.xml
clj003/mod_surreal2
1c91ed1d85acdb8b82dae46c49153d547301d2d9
[ "MIT" ]
null
null
null
robosuite/scripts/~/Robotics/1579651840_823234/ep_1579652506_4294672/model.xml
clj003/mod_surreal2
1c91ed1d85acdb8b82dae46c49153d547301d2d9
[ "MIT" ]
null
null
null
<mujoco model="base"> <compiler angle="radian" meshdir="meshes/" /> <option cone="elliptic" impratio="20" /> <size nconmax="5000" njmax="5000" /> <asset> <texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256" /> <texture builtin="checker" height="512" name="texplane" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" type="2d" width="512" /> <material name="floorplane" reflectance="0.5" texrepeat="1 1" texture="texplane" texuniform="true" /> <mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/pedestal.stl" name="pedestal" /> <mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/base.stl" name="base" /> <mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/l0.stl" name="l0" /> <mesh 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/> <site name="table_top" pos="0.0 0.0 0.4" rgba="0 0 0 0" size="0.001 0.001 0.001" /> </body> <light castshadow="false" diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="1.56 1.0 4.0" specular="0.3 0.3 0.3" /> <light castshadow="false" diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="-2.44 -3.0 4.0" specular="0.3 0.3 0.3" /> <camera mode="fixed" name="frontview" pos="2.16 0.0 1.45" quat="0.56 0.43 0.43 0.56" /> <camera mode="fixed" name="birdview" pos="0.36000000000000004 0.0 3.0" quat="0.7071 0 0 0.7071" /> <camera mode="fixed" name="agentview" pos="1.06 0.0 1.35" quat="0.653 0.271 0.271 0.653" /> <body name="base" pos="0.0 0.0 0.913"> <inertial diaginertia="0 0 0" mass="0" pos="0 0 0" /> <body name="controller_box" pos="0 0 0"> <inertial diaginertia="1.71363 1.27988 0.809981" mass="46.64" pos="-0.325 0 -0.38" /> <geom pos="-0.325 0 -0.38" size="0.11 0.2 0.265" type="box" /> </body> <body name="pedestal_feet" pos="0 0 0"> <inertial diaginertia="8.16095 9.59375 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XML
gym/envs/robotics/assets/fetch/random_obj_xml/9082_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/9082_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/9082_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
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gym/envs/robotics/assets/fetch/random_obj_xml/6590_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/6590_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/6590_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
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<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/659/659.stl" name="obj0" scale="0.011074856229469066 0.011074856229469066 0.011074856229469066" /> </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="0.02571303083848546 0.07583575913494754 0.02496633080692597"> <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="-0.002739998110235791 -0.01950398657965631 -0.0015032632703749166" rgba="1 0 0 0" size="0.01285651541924273 0.03791787956747377 0.012483165403462984" type="ellipsoid" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
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gym/envs/robotics/assets/fetch/random_obj_xml/1254_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
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gym/envs/robotics/assets/fetch/random_obj_xml/1254_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/1254_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/125/125.stl" name="obj0" scale="0.013527804115751019 0.013527804115751019 0.013527804115751019" /> </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="0.022059993088616923 0.08578544699229348 0.21305286320495317"> <joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" /> </body> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> </mujoco>
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XML
metaworld/envs/assets/sawyer_xyz/sawyer_pusher_small_table.xml
pkol/metaworld
718e4d1bc2b34e0ae3ef6415fb6cbe4afe8ea4b9
[ "MIT" ]
681
2019-09-09T19:34:37.000Z
2022-03-31T12:17:58.000Z
metaworld/envs/assets/sawyer_xyz/sawyer_pusher_small_table.xml
pkol/metaworld
718e4d1bc2b34e0ae3ef6415fb6cbe4afe8ea4b9
[ "MIT" ]
212
2019-09-18T14:43:44.000Z
2022-03-27T22:21:00.000Z
metaworld/envs/assets/sawyer_xyz/sawyer_pusher_small_table.xml
pkol/metaworld
718e4d1bc2b34e0ae3ef6415fb6cbe4afe8ea4b9
[ "MIT" ]
157
2019-09-12T05:06:05.000Z
2022-03-29T14:47:24.000Z
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================= END GRIPPER ================= /--> </body> </body> </body> <body name="right_l4_2" pos="0 0 0"> <inertial pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" mass="1e-08" diaginertia="1e-08 1e-08 1e-08" /> <geom size="0.06" pos="0 0.01 0.26" rgba="0.2 0.2 0.2 0" contype="2" conaffinity="2" /> </body> </body> </body> <body name="right_l2_2" pos="0 0 0"> <inertial pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" mass="1e-08" diaginertia="1e-08 1e-08 1e-08" /> <geom size="0.06" pos="0 0 0.26" rgba="0.2 0.2 0.2 0" contype="2" conaffinity="2" /> </body> </body> <body name="right_l1_2" pos="0 0 0"> <inertial pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" mass="1e-08" diaginertia="1e-08 1e-08 1e-08" /> <geom size="0.07 0.07" pos="0 0 0.035" type="cylinder" rgba="0.2 0.2 0.2 0"/> </body> </body> </body> </body> </body> <body mocap="true" name="mocap" pos="0 0 0"> <!--For debugging, set the alpha to 1--> <!--<geom 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gym/envs/robotics/assets/fetch/random_obj_xml/1176_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/1176_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/1176_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
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xml
XML
herb_reconf/cluttered_scenes/grasping_004_sugar_box_1_0.3_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/grasping_004_sugar_box_1_0.3_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/grasping_004_sugar_box_1_0.3_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
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</body>--> <!--<body name="gen_body_0" pos="0 0.0 0.3549998" euler="0 0 0.5"> <geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/> <joint name="//unnamed_joint_0" class="/" type="free"/> </body> <body name="box_0" pos="0.175 0.0 0.3725"> <geom name="box_geom_0" class="/" type="box" group="1" size="0.055 0.055 0.065" rgba="0 0 0 1"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!--<body name="target_obj" pos="-0.053464621446560029 -0.5 0.3549998"> <geom name="//unnamed_geom_15" class="geom0" type="box" contype="0" conaffinity="0" group="1" size="0.055 0.055 0.055" rgba="0 0 0 0.1666"/> </body>--> <!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!-- <body name="virt_box_2" pos="0 .45 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/> </body> <body name="virt_box_3" pos="0 0.57243499223068691 0.3549998"> <geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/> </body> --> <body euler="0 0 1.5144744870321358" name="gen_body_0" pos="0 0 0.2999690000004193"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.7871648425065387 0.7017163151346056 0.33021108579429725 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 5.945661331145611" name="gen_body_gadded_1" pos="0.2495188623840425 0.0 0.3059648203528369"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.6187740534666195 0.5696352452125603 0.7182841432254687 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 3.5348608863048243" name="gen_body_gadded_2" pos="0.26294739518613464 0.33518658508255206 0.29989978023741687"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.8461952946019384 0.9846431526818815 0.983273574968843 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 1.8526067429418218" name="gen_body_gadded_3" pos="0.501859654119202 -0.02501788409285234 0.30305675904626034"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.7832027766836527 0.2535150176548676 0.7957441743061866 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 1.767569289227831" name="gen_body_gadded_4" pos="0.21311373954928908 -0.2684722244909398 0.300386001915686"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.436057256602423 0.3242497588145967 0.03772100885579943 1" type="mesh"/><joint class="/" name="gen_joint_gadded_4" type="free"/></body><body euler="0 0 6.096540297985342" name="gen_body_gadded_5" pos="0.11450047055597198 0.08663261550857398 0.30013273044096556"><geom class="/" mesh="gen_mesh_gadded_5" name="gen_geom_gadded_5" rgba="0.9736472701142531 0.8441643622761178 0.46742653304166526 1" type="mesh"/><joint class="/" name="gen_joint_gadded_5" type="free"/></body></worldbody> <contact> <!--<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="box_geom_0" geom2="table_plane"/>--> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/> <!--<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>--> <!--<pair geom1="//unnamed_geom_8" geom2="tabletop" friction="1 1 0.005 0.0001 0.0001" />--> <!-- <pair geom1="//unnamed_geom_9" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> --> </contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="10000" name="herb/wam_1/p_j1_base_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="10000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/> <position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="10000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/> <position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="10000" name="herb/wam_1/p_j4_elbow_pitch_joint"/> <position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/> <position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/> <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" /> <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" /> <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" /> <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" /> <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" /> <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>--> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/> <!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/> <position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/> <position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/> <position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/> <position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" 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Jekyll1021/gym
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[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/7040_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/7040_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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null
null
null
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Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/7863_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/7863_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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null
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Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/5015_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/5015_peg.xml
Jekyll1021/gym
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null
null
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Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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gym/envs/robotics/assets/fetch/random_obj_xml/1512_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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null
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gym/envs/robotics/assets/fetch/random_obj_xml/1512_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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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/3637_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/3637_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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null
null
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liusida/thesis-bodies
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body_mnist/workable-bodies/envs/57.xml
liusida/thesis-bodies
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body_mnist/workable-bodies/envs/57.xml
liusida/thesis-bodies
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<mujoco model="ant"> <compiler angle="degree" coordinate="local" inertiafromgeom="true"/> <option integrator="RK4" timestep="0.01"/> <custom> <numeric data="0.0 0.0 0.55 1.0 0.0 0.0 0.0 0.0 1.0 0.0 -1.0 0.0 -1.0 0.0 1.0" name="init_qpos"/> </custom> <default> <joint armature="1" damping="1" limited="true"/> <geom conaffinity="0" condim="3" density="5.0" friction="1.5 0.1 0.1" margin="0.01" rgba="0.8 0.6 0.4 1"/> </default> <worldbody> <body name="torso" pos="0 0 0.6812162388971318"> <geom name="torso_geom" pos="0 0 0" size="0.12859225969058793" type="sphere"/> <!--joint armature="0" damping="0" limited="false" margin="0.01" name="root" pos="0 0 0" type="free"/--> <body name="front_left_leg" pos="0 0 0"> <geom fromto="0.0 0.0 0.0 0.15590773677074088 0.15590773677074088 0.0" name="aux_1_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/> <body name="aux_1" pos="0.15590773677074088 0.15590773677074088 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 0.15590773677074088 0.15590773677074088 0.0" name="left_leg_geom" size="0.043530645560831464" type="capsule" rgba=".8 .5 .3 1"/> <body pos="0.15590773677074088 0.15590773677074088 0" name="front_left_foot"> <joint axis="-1 1 0" name="ankle_1" pos="0.0 0.0 0.0" range="30 100" type="hinge"/> <geom fromto="0.0 0.0 0.0 0.37196445048154914 0.37196445048154914 0.0" name="left_ankle_geom" size="0.0956703855272364" type="capsule" rgba=".8 .5 .3 1"/> </body> </body> </body> <body name="front_right_leg" pos="0 0 0"> <geom fromto="0.0 0.0 0.0 -0.15590773677074088 0.15590773677074088 0.0" name="aux_2_geom" size="0.08" type="capsule"/> <body name="aux_2" pos="-0.15590773677074088 0.15590773677074088 0"> <joint axis="0 0 1" name="hip_2" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/> <geom fromto="0.0 0.0 0.0 -0.15590773677074088 0.15590773677074088 0.0" name="right_leg_geom" size="0.043530645560831464" type="capsule"/> <body pos="-0.15590773677074088 0.15590773677074088 0" name="front_right_foot"> <joint axis="1 1 0" name="ankle_2" pos="0.0 0.0 0.0" range="-100 -30" type="hinge"/> <geom fromto="0.0 0.0 0.0 -0.37196445048154914 0.37196445048154914 0.0" name="right_ankle_geom" size="0.0956703855272364" type="capsule"/> </body> </body> </body> <body name="left_back_leg" pos="0 0 0"> <geom fromto="0.0 0.0 0.0 -0.15590773677074088 -0.15590773677074088 0.0" name="aux_3_geom" size="0.08" type="capsule"/> <body name="aux_3" pos="-0.15590773677074088 -0.15590773677074088 0"> <joint axis="0 0 1" name="hip_3" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/> <geom fromto="0.0 0.0 0.0 -0.15590773677074088 -0.15590773677074088 0.0" name="back_leg_geom" size="0.043530645560831464" type="capsule"/> <body pos="-0.15590773677074088 -0.15590773677074088 0" name="left_back_foot"> <joint axis="-1 1 0" name="ankle_3" pos="0.0 0.0 0.0" range="-100 -30" type="hinge"/> <geom fromto="0.0 0.0 0.0 -0.37196445048154914 -0.37196445048154914 0.0" name="third_ankle_geom" size="0.0956703855272364" type="capsule"/> </body> </body> </body> <body name="right_back_leg" pos="0 0 0"> <geom fromto="0.0 0.0 0.0 0.15590773677074088 -0.15590773677074088 0.0" name="aux_4_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/> <body name="aux_4" pos="0.15590773677074088 -0.15590773677074088 0"> <joint axis="0 0 1" name="hip_4" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/> <geom fromto="0.0 0.0 0.0 0.15590773677074088 -0.15590773677074088 0.0" name="rightback_leg_geom" size="0.043530645560831464" type="capsule" rgba=".8 .5 .3 1"/> <body pos="0.15590773677074088 -0.15590773677074088 0" name="right_back_foot"> <joint axis="1 1 0" name="ankle_4" pos="0.0 0.0 0.0" range="30 100" type="hinge"/> <geom fromto="0.0 0.0 0.0 0.37196445048154914 -0.37196445048154914 0.0" name="fourth_ankle_geom" size="0.0956703855272364" type="capsule" rgba=".8 .5 .3 1"/> </body> </body> </body> </body> </worldbody> <actuator> <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_4" gear="150"/> <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_4" gear="150"/> <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_1" gear="150"/> <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_1" gear="150"/> <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_2" gear="150"/> <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_2" gear="150"/> <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_3" gear="150"/> <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_3" gear="150"/> </actuator> </mujoco>
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xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/9381_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/9381_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/9381_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/938/938.stl" name="obj0" scale="0.0035114974496138923 0.0035114974496138923 0.0035114974496138923" /> </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="0.011593872502918242 0.024846894191553275 0.22023487412799442"> <joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" /> </body> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> </mujoco>
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xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/6461_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/6461_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/6461_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/646/646.stl" name="obj0" scale="0.010787784231800523 0.010787784231800523 0.010787784231800523" /> </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="0.027277365517045356 0.06510707187503219 0.21464843554429558"> <joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" /> </body> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> </mujoco>
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XML
gym/envs/robotics/assets/fetch/random_obj_xml/9080_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/9080_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/9080_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/908/908.stl" name="obj0" scale="0.006622031415744791 0.006622031415744791 0.006622031415744791" /> </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="0.014042835437966672 0.04 0.03914631419800785" 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="0.0013938748660902141 -0.016968813498704924 0.02662024945996113" size="0.030344033707460173 0.029261049613227848 0.04512706742379065" type="box" zaxis="1.0 0.0 0.0" /> <site name="object0" pos="-0.00015268464094240255 -0.016872803703789973 -0.004463982525862845" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> <site name="handle0" pos="0.0013938748660902141 -0.016968813498704924 0.01662024945996113" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
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xml
XML
mujoco/all_envs/halfcheetah/assets/half_cheetah_7.0.xml
EvieQ01/Learning-Feasibility-Different-Dynamics
73786b11137b8ba9840d00ec4d258c1296b0a595
[ "MIT" ]
null
null
null
mujoco/all_envs/halfcheetah/assets/half_cheetah_7.0.xml
EvieQ01/Learning-Feasibility-Different-Dynamics
73786b11137b8ba9840d00ec4d258c1296b0a595
[ "MIT" ]
null
null
null
mujoco/all_envs/halfcheetah/assets/half_cheetah_7.0.xml
EvieQ01/Learning-Feasibility-Different-Dynamics
73786b11137b8ba9840d00ec4d258c1296b0a595
[ "MIT" ]
null
null
null
<!-- Cheetah Model The state space is populated with joints in the order that they are defined in this file. The actuators also operate on joints. State-Space (name/joint/parameter): - rootx slider position (m) - rootz slider position (m) - rooty hinge angle (rad) - bthigh hinge angle (rad) - bshin hinge angle (rad) - bfoot hinge angle (rad) - fthigh hinge angle (rad) - fshin hinge angle (rad) - ffoot hinge angle (rad) - rootx slider velocity (m/s) - rootz slider velocity (m/s) - rooty hinge angular velocity (rad/s) - bthigh hinge angular velocity (rad/s) - bshin hinge angular velocity (rad/s) - bfoot hinge angular velocity (rad/s) - fthigh hinge angular velocity (rad/s) - fshin hinge angular velocity (rad/s) - ffoot hinge angular velocity (rad/s) Actuators (name/actuator/parameter): - bthigh hinge torque (N m) - bshin hinge torque (N m) - bfoot hinge torque (N m) - fthigh hinge torque (N m) - fshin hinge torque (N m) - ffoot hinge torque (N m) --> <mujoco model="cheetah"> <compiler angle="radian" coordinate="local" inertiafromgeom="true" settotalmass="14"/> <default> <joint armature=".1" damping=".01" limited="true" solimplimit="0 .8 .03" solreflimit=".02 1" stiffness="8"/> <geom conaffinity="0" condim="3" contype="1" friction=".4 .1 .1" rgba="0.8 0.6 .4 1" solimp="0.0 0.8 0.01" solref="0.02 1"/> <motor ctrllimited="true" ctrlrange="-1 1"/> </default> <size nstack="300000" nuser_geom="1"/> <option gravity="0 0 -9.81" timestep="0.01"/> <asset> <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/> <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/> <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/> <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/> <material name="geom" texture="texgeom" texuniform="true"/> </asset> <worldbody> <light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/> <geom conaffinity="1" condim="3" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane"/> <body name="torso" pos="0 0 .7"> <camera name="track" mode="trackcom" pos="0 -3 0.3" xyaxes="1 0 0 0 0 1"/> <joint armature="0" axis="1 0 0" damping="0" limited="false" name="rootx" pos="0 0 0" stiffness="0" type="slide"/> <joint armature="0" axis="0 0 1" damping="0" limited="false" name="rootz" pos="0 0 0" stiffness="0" type="slide"/> <joint armature="0" axis="0 1 0" damping="0" limited="false" name="rooty" pos="0 0 0" stiffness="0" type="hinge"/> <geom fromto="-3.5 0 0 3.5 0 0" name="torso" size="0.046" type="capsule"/> <geom axisangle="0 1 0 .87" name="head" pos="4.2 0 .7" size="0.046 1.05" type="capsule"/> <!-- <site name='tip' pos='.15 0 .11'/>--> <body name="bthigh" pos="-3.5 0 0"> <joint axis="0 1 0" damping="6" name="bthigh" pos="0 0 0" range="-.52 1.05" stiffness="240" type="hinge"/> <geom axisangle="0 1 0 -3.8" name="bthigh" pos=".1 0 -.13" size="0.046 .145" type="capsule"/> <body name="bshin" pos=".16 0 -.25"> <joint axis="0 1 0" damping="4.5" name="bshin" pos="0 0 0" range="-.785 .785" stiffness="180" type="hinge"/> <geom axisangle="0 1 0 -2.03" name="bshin" pos="-.14 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .15" type="capsule"/> <body name="bfoot" pos="-.28 0 -.14"> <joint axis="0 1 0" damping="3" name="bfoot" pos="0 0 0" range="-.4 .785" stiffness="120" type="hinge"/> <geom axisangle="0 1 0 -.27" name="bfoot" pos=".03 0 -.097" rgba="0.9 0.6 0.6 1" size="0.046 .094" type="capsule"/> </body> </body> </body> <body name="fthigh" pos="3.5 0 0"> <joint axis="0 1 0" damping="4.5" name="fthigh" pos="0 0 0" range="-1 .7" stiffness="180" type="hinge"/> <geom axisangle="0 1 0 .52" name="fthigh" pos="-.07 0 -.12" size="0.046 .133" type="capsule"/> <body name="fshin" pos="-.14 0 -.24"> <joint axis="0 1 0" damping="3" name="fshin" pos="0 0 0" range="-1.2 .87" stiffness="120" type="hinge"/> <geom axisangle="0 1 0 -.6" name="fshin" pos=".065 0 -.09" rgba="0.9 0.6 0.6 1" size="0.046 .106" type="capsule"/> <body name="ffoot" pos=".13 0 -.18"> <joint axis="0 1 0" damping="1.5" name="ffoot" pos="0 0 0" range="-.5 .5" stiffness="60" type="hinge"/> <geom axisangle="0 1 0 -.6" name="ffoot" pos=".045 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .07" type="capsule"/> </body> </body> </body> </body> </worldbody> <actuator> <motor gear="120" joint="bthigh" name="bthigh"/> <motor gear="90" joint="bshin" name="bshin"/> <motor gear="60" joint="bfoot" name="bfoot"/> <motor gear="120" joint="fthigh" name="fthigh"/> <motor gear="60" joint="fshin" name="fshin"/> <motor gear="30" joint="ffoot" name="ffoot"/> </actuator> </mujoco>
57.958763
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1,775
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/4935_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/4935_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/4935_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
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herb_reconf/cluttered_scenes/grasping_011_banana_1_0.0_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
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herb_reconf/cluttered_scenes/grasping_011_banana_1_0.0_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
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null
null
null
herb_reconf/cluttered_scenes/grasping_011_banana_1_0.0_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
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null
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name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683"> <inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/> <joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/> </body> </body> </body> <body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700"> <inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/> <joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/> <geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/> <geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/> <body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0"> <inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/> <joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/> <body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683"> <inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/> <joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/> </body> </body> </body> <body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5"> <inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/> <joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/> <body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683"> <inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/> <joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body>--> </body> <light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/> </body> <!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998"> <geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/> <joint name="//unnamed_joint_2" class="/" type="free"/> </body> <body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998"> <geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/> <joint name="//unnamed_joint_3" class="/" type="free"/> </body> <body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998"> <geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/> <joint name="//unnamed_joint_4" class="/" type="free"/> </body> --> <!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998"> <geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/> <joint name="//unnamed_joint_5" class="/" type="free"/> </body>--> <!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998"> <geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/> <joint name="//unnamed_joint_6" class="/" type="free"/> </body>--> <!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998"> <geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325"> <geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/> <joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/> </body> <body name="target_obj" pos="0 0.0 0.325"> <geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/> </body>--> <!--<body name="gen_body_0" pos="0 0.0 0.3549998" euler="0 0 0.5"> <geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/> <joint name="//unnamed_joint_0" class="/" type="free"/> </body> <body name="box_0" pos="0.175 0.0 0.3725"> <geom name="box_geom_0" class="/" type="box" group="1" size="0.055 0.055 0.065" rgba="0 0 0 1"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!--<body name="target_obj" pos="-0.053464621446560029 -0.5 0.3549998"> <geom name="//unnamed_geom_15" class="geom0" type="box" contype="0" conaffinity="0" group="1" size="0.055 0.055 0.055" rgba="0 0 0 0.1666"/> </body>--> <!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!-- <body name="virt_box_2" pos="0 .45 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/> </body> <body name="virt_box_3" pos="0 0.57243499223068691 0.3549998"> <geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/> </body> --> <body euler="0 0 3.483206249747554" name="gen_body_0" pos="0 0 0.30040700001409276"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.7105120275122103 0.26777383559218115 0.9212681176454064 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 2.2903152356366907" name="gen_body_gadded_1" pos="0.15047222795888898 0.0 0.3003714108867901"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.3942488926432697 0.8268092248094261 0.9222954365019489 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 2.1734419753394496" name="gen_body_gadded_2" pos="0.3234960356146429 -0.007275951652706642 0.30052570595744427"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.6266153601596572 0.011391349762470138 0.6967242623111725 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 5.892860433826416" name="gen_body_gadded_3" pos="-0.22792658083824205 0.03748821563419738 0.30370795947819085"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.2638951641449173 0.7397512494197009 0.1351465702477831 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 2.2613785638593424" name="gen_body_gadded_4" pos="0.9934774107672356 -0.13740438704277588 0.3022212099564931"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.11897855324375894 0.5419929729922263 0.7497712288446026 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>
121.342229
1,616
0.684753
7ca5832f742f646709a96015b7cb4f4731f9927e
5,447
xml
XML
data_gen/collect_cup_data_xmls/shared_mug_2852b888abae54b0e3523e99fd841f4.xml
YunchuZhang/Visually-Grounded-Library-of-Behaviors-for-Generalizing-Manipulation-Across-Objects-Configurations-
896afda942dfc04e4aaad2ee751c32df1eb17913
[ "MIT" ]
1
2022-03-14T22:25:17.000Z
2022-03-14T22:25:17.000Z
data_gen/collect_cup_data_xmls/shared_mug_2852b888abae54b0e3523e99fd841f4.xml
YunchuZhang/Visually-Grounded-Library-of-Behaviors
896afda942dfc04e4aaad2ee751c32df1eb17913
[ "MIT" ]
null
null
null
data_gen/collect_cup_data_xmls/shared_mug_2852b888abae54b0e3523e99fd841f4.xml
YunchuZhang/Visually-Grounded-Library-of-Behaviors
896afda942dfc04e4aaad2ee751c32df1eb17913
[ "MIT" ]
null
null
null
<mujoco> <asset> <texture builtin="gradient" height="32" rgb1="0.44 0.85 0.56" rgb2="0.46 0.87 0.58" type="skybox" width="32" /> <texture file="textures/block.png" gridlayout=".U..LFRB.D.." gridsize="3 4" name="texture_block" /> <material name="floor_mat" reflectance="0" rgba="0.2 0.2 0.2 1" shininess="0.5" specular="0" /> <material name="table_mat" reflectance="0" rgba="0.93 0.93 0.93 1" shininess="0.5" specular="0" /> <material name="block_mat" reflectance="0" rgba="0.2 0.2 0.2 1" shininess="0.5" specular="0" /> <material name="puck_mat" reflectance="0" rgba="0.2 0.2 0.2 1" shininess="0.5" specular="0" /> <material name="robot0:geomMat" shininess="0.03" specular="0.4" /> <material name="robot0:gripper_finger_mat" reflectance="0" shininess="0.03" specular="0.4" /> <material name="robot0:gripper_mat" reflectance="0" shininess="0.03" specular="0.4" /> <material name="robot0:arm_mat" reflectance="0" shininess="0.03" specular="0.4" /> <material name="robot0:head_mat" reflectance="0" shininess="0.03" specular="0.4" /> <material name="robot0:torso_mat" reflectance="0" shininess="0.03" specular="0.4" /> <material name="robot0:base_mat" reflectance="0" shininess="0.03" specular="0.4" /> <texture file="textures/ceramic.png" name="tex-ceramic" /> <material name="ceramic" reflectance="0.5" texrepeat="1 1" texture="tex-ceramic" texuniform="true" /> <mesh file="../meshes/03797390/2852b888abae54b0e3523e99fd841f4/models/stl_models/convex_model_normalized_0.stl" name="2852b888abae54b0e3523e99fd841f4_mesh_0" scale="1.5 1.5 1.5" /><mesh file="../meshes/03797390/2852b888abae54b0e3523e99fd841f4/models/stl_models/convex_model_normalized_1.stl" name="2852b888abae54b0e3523e99fd841f4_mesh_1" scale="1.5 1.5 1.5" /><mesh file="../meshes/03797390/2852b888abae54b0e3523e99fd841f4/models/stl_models/convex_model_normalized_2.stl" name="2852b888abae54b0e3523e99fd841f4_mesh_2" scale="1.5 1.5 1.5" /><mesh 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file="../meshes/03797390/2852b888abae54b0e3523e99fd841f4/models/stl_models/convex_model_normalized_18.stl" name="2852b888abae54b0e3523e99fd841f4_mesh_18" scale="1.5 1.5 1.5" /><mesh file="../meshes/03797390/2852b888abae54b0e3523e99fd841f4/models/stl_models/convex_model_normalized_19.stl" name="2852b888abae54b0e3523e99fd841f4_mesh_19" scale="1.5 1.5 1.5" /><mesh file="../meshes/03797390/2852b888abae54b0e3523e99fd841f4/models/stl_models/convex_model_normalized_20.stl" name="2852b888abae54b0e3523e99fd841f4_mesh_20" scale="1.5 1.5 1.5" /></asset> </mujoco>
247.590909
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1,771
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/4316_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/4316_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/4316_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
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gym/envs/robotics/assets/fetch/random_obj_xml/413_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/413_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/413_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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null
null
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gym/envs/robotics/assets/fetch/random_obj_xml/1481_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/1481_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/1481_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
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env/models/assets/robots/baxter/robot.xml
snasiriany/furniture
918be936c0bbf954b751a5f7e4d5c14cf0df4442
[ "MIT" ]
1
2020-07-13T21:58:28.000Z
2020-07-13T21:58:28.000Z
env/models/assets/robots/baxter/robot.xml
snasiriany/furniture
918be936c0bbf954b751a5f7e4d5c14cf0df4442
[ "MIT" ]
null
null
null
env/models/assets/robots/baxter/robot.xml
snasiriany/furniture
918be936c0bbf954b751a5f7e4d5c14cf0df4442
[ "MIT" ]
1
2021-08-03T00:01:10.000Z
2021-08-03T00:01:10.000Z
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mass="60.864" diaginertia="6.0869 5.81635 4.20915" /> <geom name="pedestal_mesh" margin="0.001" class="viz" rgba="0.2 0.2 0.2 1" mesh="PEDESTAL" /> <geom name="_pedestal_collider_1" margin="0.001" pos="-.04 0 -.8" rgba="0.2 0.2 0.2 1" type="box" size=".46 .425 .16" /> <geom name="pedestal_collider_2" margin="0.001" pos="0 0 -.35" rgba="0.2 0.2 0.2 1" type="capsule" size=".165 .25" /> </body> <body name="head" pos="0.06 0 0.686"> <inertial pos="0 0 0" quat="0.339345 0.850736 -0.347392 0.201027" mass="0.547767" diaginertia="0.00474065 0.00461087 0.00199949" /> <joint limited="true" damping="0" armature=".01" name="head_pan" type="hinge" pos="0 0 0" axis="0 0 1" range="-1.5708 1.5708" /> <geom name="head_mesh_h0" margin="0.001" class="viz" rgba="0.2 0.2 0.2 1" mesh="H0" /> <body name="screen" pos="0.1227 0 0" quat="0.453099 0.542864 0.542864 0.453099"> <inertial pos="0 0 0" quat="0.995785 0.0113501 -0.000390852 0.0910132" mass="0.440171" diaginertia="0.0040484 0.00275826 0.00150834" /> 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0.1 0.1 1" pos="0 0 0.1361"/> <body name="right_lower_shoulder" pos="0.069 0 0.27035" quat="0.707107 -0.707107 0 0"> <inertial pos="0.06845 0.00269 -0.00529" quat="0.447487 0.536948 0.56425 0.439391" mass="3.22698" diaginertia="0.0278991 0.0212327 0.0112937" /> <joint limited="true" damping="0" armature=".01" name="right_s1" type="hinge" pos="0 0 0" axis="0 0 1" range="-2.147 1.047" /> <geom name="right_lower_shoulder_mesh" margin="0.001" class="viz" rgba="0.5 0.1 0.1 1" mesh="S1" /> <geom name="right_lower_shoulder" margin="0.001" type="cylinder" size="0.06 0.06" rgba="0.5 0.1 0.1 1" pos="0 0 0" /> <body name="right_upper_elbow" pos="0.102 0 0" quat="0.5 0.5 0.5 0.5"> <inertial pos="-0.00276 0.00132 0.18086" quat="0.838995 -0.0423128 -0.121287 0.52876" mass="4.31272" diaginertia="0.0287695 0.0273625 0.011409" /> <joint limited="true" damping="0" armature=".01" name="right_e0" type="hinge" pos="0 0 0" axis="0 0 1" range="-3.05418 3.05418" /> <geom name="right_upper_elbow_mesh" 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0.13952" quat="0.892709 -0.0256256 0.00446984 0.449882" mass="2.24665" diaginertia="0.016916 0.0165511 0.00371123" /> <joint limited="true" damping="0" armature=".01" name="right_w0" type="hinge" pos="0 0 0" axis="0 0 1" range="-3.059 3.059" /> <geom name="right_upper_forearm_mesh" margin="0.001" class="viz" rgba="0.5 0.1 0.1 1" mesh="W0" /> <geom name="right_upper_forearm_collider" margin="0.001" type="cylinder" size="0.06 0.044" rgba="0.5 0.1 0.1 1" pos="0 0 -0.044" /> <geom margin="0.001" name="right_upper_forearm_visual" type="cylinder" size="0.06 0.1036" pos="0 0 0.1" class="viz"/> <body name="right_lower_forearm" pos="0.01 0 0.2707" quat="0.5 -0.5 -0.5 -0.5"> <inertial pos="0.06041 0.00697 0.006" quat="0.456911 0.468526 0.475683 0.587743" mass="1.60979" diaginertia="0.00708828 0.00552689 0.00379383" /> <joint limited="true" damping="0" armature=".01" name="right_w1" type="hinge" pos="0 0 0" axis="0 0 1" range="-1.5708 2.094" /> <geom name="right_lower_forearm_mesh" margin="0.001" class="viz" rgba="0.5 0.1 0.1 1" mesh="W1" /> <geom name="right_lower_forearm_visual" margin="0.001" type="cylinder" size="0.06 0.05" rgba="0.5 0.1 0.1 1" pos="0 0 0" /> <body name="right_wrist" pos="0.115975 0 0" quat="0.5 0.5 0.5 0.5"> <inertial pos="0.00198 0.00125 0.01855" quat="0.0594843 0.68926 -0.16016 0.704082" mass="0.35093" diaginertia="0.0003082 0.000269928 0.000251035" /> <joint limited="true" damping="0" armature=".01" name="right_w2" type="hinge" pos="0 0 0" axis="0 0 1" range="-3.059 3.059" /> <geom name="right_wrist_mesh" margin="0.001" class="viz" rgba="0.1 0.1 0.1 1" mesh="W2" /> <geom name="right_wrist_cylinder" margin="0.001" type="cylinder" size="0.06 0.0825" rgba="0.1 0.1 0.1 1" pos="0 0 0" /> <body name="right_hand" pos="0 0 0.11355"> <!-- right gripper gets added here --> </body> </body> </body> </body> </body> </body> </body> </body> </body> <body name="left_arm_mount" pos="0.024645 0.219645 0.118588" quat="0.923879 0 0 0.382684"> <inertial pos="0 0 0" 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name="left_lower_shoulder_mesh" margin="0.001" class="viz" rgba="0.5 0.1 0.1 1" mesh="S1" /> <geom name="left_lower_shoulder_cylinder" margin="0.001" type="cylinder" size="0.06 0.06" rgba="0.5 0.1 0.1 1" pos="0 0 0" /> <body name="left_upper_elbow" pos="0.102 0 0" quat="0.5 0.5 0.5 0.5"> <inertial pos="-0.00276 0.00132 0.18086" quat="0.838995 -0.0423128 -0.121287 0.52876" mass="4.31272" diaginertia="0.0287695 0.0273625 0.011409" /> <joint limited="true" damping="0" armature=".01" name="left_e0" type="hinge" pos="0 0 0" axis="0 0 1" range="-3.05418 3.05418" /> <geom name="left_upper_elbow_mesh" margin="0.001" class="viz" rgba="0.5 0.1 0.1 1" mesh="E0" /> <geom name="left_upper_elbow_cylinder" margin="0.001" type="cylinder" size="0.06 0.0535" rgba="0.5 0.1 0.1 1" pos="0 0 -0.0535" /> <geom margin="0.001" name="left_upper_elbow_visual" type="cylinder" size="0.06 0.1365" pos="0 0 0.1365" class="viz"/> <body name="left_lower_elbow" pos="0.069 0 0.26242" quat="0.5 -0.5 -0.5 -0.5"> <inertial pos="0.02611 0.00159 -0.01117" quat="0.440433 0.577149 0.562777 0.395221" mass="2.07206" diaginertia="0.0132096 0.00950002 0.00685697" /> <joint limited="true" damping="0" armature=".01" name="left_e1" type="hinge" pos="0 0 0" axis="0 0 1" range="-0.05 2.618" /> <geom name="left_lower_elbow_mesh" margin="0.001" class="viz" rgba="0.5 0.1 0.1 1" mesh="E1" /> <geom name="left_lower_elbow_cylinder" margin="0.001" type="cylinder" size="0.06 0.05" rgba="0.5 0.1 0.1 1" pos="0 0 0" /> <body name="left_upper_forearm" pos="0.10359 0 0" quat="0.5 0.5 0.5 0.5"> <inertial pos="-0.00168 0.0046 0.13952" quat="0.892709 -0.0256256 0.00446984 0.449882" mass="2.24665" diaginertia="0.016916 0.0165511 0.00371123" /> <joint limited="true" damping="0" armature=".01" name="left_w0" type="hinge" pos="0 0 0" axis="0 0 1" range="-3.059 3.059" /> <geom name="left_upper_forearm_mesh" margin="0.001" class="viz" rgba="0.5 0.1 0.1 1" mesh="W0" /> <geom name="left_upper_forearm_cylinder" margin="0.001" type="cylinder" 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train/assets.xml
vikashplus/object_sim
87cd8dd5a11518b94fca16bc22bb04f6836c6aa7
[ "Apache-2.0" ]
1
2022-03-13T21:24:49.000Z
2022-03-13T21:24:49.000Z
train/assets.xml
vikashplus/object_sim
87cd8dd5a11518b94fca16bc22bb04f6836c6aa7
[ "Apache-2.0" ]
null
null
null
train/assets.xml
vikashplus/object_sim
87cd8dd5a11518b94fca16bc22bb04f6836c6aa7
[ "Apache-2.0" ]
null
null
null
<mujocoinclude model=""> <!-- ================================================= Copyright 2019 Vikash Kumar Model :: Objects (MuJoCoV2.0) Author :: Vikash Kumar ([email protected]), Sudeep Dasari ([email protected] ) Details :: https://github.com/vikashplus/object_sim License :: Under Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License. ====================================================== -©vk©--> <asset> <mesh name="train" file="../object_sim/train/train.stl"/> <mesh name="contact0" file="../object_sim/train/contact0.stl"/> </asset> </mujocoinclude>
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xml
XML
herb_reconf/cluttered_scenes/grasping_007_tuna_fish_can_0_0.7_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/grasping_007_tuna_fish_can_0_0.7_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/grasping_007_tuna_fish_can_0_0.7_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
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0.6604982363152213 0.9174992832388058 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 6.265231710180369" name="gen_body_gadded_3" pos="-0.1573584086427159 -0.10294610424357119 0.30074503423835275"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.9709643343278987 0.6009751229555266 0.3710453702071811 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>
120.540031
1,274
0.683958
7cb04e1adebf6bfe272439b2f6118aa8bbdd44dd
90,253
xml
XML
herb_reconf/cluttered_scenes/easy_pushing_010_potted_meat_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/easy_pushing_010_potted_meat_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/easy_pushing_010_potted_meat_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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0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/> <joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/> <body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683"> <inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/> <joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body>--> </body> <light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/> </body> <!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998"> <geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/> <joint name="//unnamed_joint_2" class="/" type="free"/> </body> <body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998"> <geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 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</body>--> <!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998"> <geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325"> <geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/> <joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/> </body> <body name="target_obj" pos="0 0.0 0.325"> <geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/> </body>--> <!--<body name="gen_body_0" pos="0 0.0 0.3549998"> <geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/> <joint name="//unnamed_joint_0" class="/" type="free"/> </body>--> <!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998"> <geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/> </body>--> <!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!-- <body name="virt_box_2" pos="0 .45 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/> </body> <body name="virt_box_3" pos="0 0.57243499223068691 0.3549998"> <geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/> </body> --> <body euler="0 0 3.64548573225978" name="gen_body_0" pos="-0.05 -0.35 0.3031880000606179"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.22810572923789885 0.814943646079397 0.6452470452108231 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 5.047685499305716" name="gen_body_gadded_1" pos="0.23086206000104653 -0.3404151076921781 0.49401737760913267"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.18158526523483765 0.7813150645677077 0.4255103483615138 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 3.4566618752813216" name="gen_body_gadded_2" pos="-0.292552012258924 -0.2572063640347891 0.30422755852509625"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.5033381229961909 0.5631494643035841 0.12025570604739177 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" 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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" 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geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_0" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/> <position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/> <position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/> <position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/> <position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/> <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" /> <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" /> <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" /> <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" /> <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" /> <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>--> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/> <!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/> <position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/> <position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/> <position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/> <position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>--> </actuator> </mujoco>
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xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/144_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/144_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/144_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/014/014.stl" name="obj0" scale="0.006944771391256171 0.006944771391256171 0.006944771391256171" /> </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="0.021069488439776317 0.0430310292923738 0.2161280058040419"> <joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" /> </body> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> </mujoco>
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xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/3649_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/3649_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/3649_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/364/364.stl" name="obj0" scale="0.009395255600099746 0.009395255600099746 0.009395255600099746" /> </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="0.032634974647026874 0.06276238845778173 0.023607731208783036"> <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="0.004690237130512131 -0.024476820618210562 0.0020382648834013244" rgba="1 0 0 0" size="0.016317487323513437 0.031381194228890866 0.011803865604391518" type="ellipsoid" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
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xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/3716_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/3716_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/3716_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/371/371.stl" name="obj0" scale="0.004000968207086584 0.004000968207086584 0.004000968207086584" /> </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="0.023185872823484315 0.03609877765860487 0.23050582620240265"> <joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" /> </body> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> </mujoco>
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xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/909_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/909_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/909_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/090/090.stl" name="obj0" scale="0.004585142601946921 0.004585142601946921 0.004585142601946921" /> </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="0.018846534016198624 0.04 0.017859146482582362" 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="-0.0020153085992271214 -0.021052128488957756 0.033803405134618957" size="0.010002991837662524 0.017875928643557595 0.05260464030083163" type="box" zaxis="0.0 0.0 1.0" /> <site name="object0" pos="-0.0011279329179179462 -0.020293810208758555 -0.0009420886836303162" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> <site name="handle0" pos="-0.0020153085992271214 -0.021052128488957756 0.023803405134618955" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
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xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/626_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/626_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/626_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
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<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/062/062.stl" name="obj0" scale="0.006507094807476619 0.006507094807476619 0.006507094807476619" /> </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="0.026348417673822594 0.04 0.02966110480871866" 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="-0.0031290157157338088 0.0012101303857086111 0.019056529719025328" size="0.025712391097484404 0.01603398963037941 0.046398489789827885" type="box" zaxis="1.0 0.0 0.0" /> <site name="object0" pos="-0.0003948329134586894 -0.00904698689608693 -0.000993542396979965" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> <site name="handle0" pos="-0.0031290157157338088 0.0012101303857086111 0.009056529719025326" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
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XML
gym/envs/robotics/assets/fetch/random_obj_xml/6481_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/6481_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/6481_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/648/648.stl" name="obj0" scale="0.0049292123679380425 0.0049292123679380425 0.0049292123679380425" /> </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="0.023581706871506087 0.03939912051874325 0.23515477784641892"> <joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" /> </body> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> </mujoco>
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XML
simulation/dm_control_cur/virtual_arm_environment/environments/assets/passive_hand_unmodified/shared.xml
Cambridge-University-Robotics/cur_policy_learning_research
6c2a35db476ae7849d3841d17246c64dd05c6a1d
[ "MIT" ]
null
null
null
simulation/dm_control_cur/virtual_arm_environment/environments/assets/passive_hand_unmodified/shared.xml
Cambridge-University-Robotics/cur_policy_learning_research
6c2a35db476ae7849d3841d17246c64dd05c6a1d
[ "MIT" ]
8
2020-11-11T11:05:01.000Z
2021-02-04T21:11:34.000Z
simulation/dm_control_cur/virtual_arm_environment/environments/assets/passive_hand_unmodified/shared.xml
Cambridge-University-Robotics/cur_policy_learning_research
6c2a35db476ae7849d3841d17246c64dd05c6a1d
[ "MIT" ]
1
2020-11-15T10:57:26.000Z
2020-11-15T10:57:26.000Z
<mujoco> <equality> <weld body1="robot0:mocap" body2="robot0:gripper_link" solimp="0.1 0.5 0.1 0.5 6" solref="0.02 1"></weld> <!-- <weld body1="robot0:mocap" body2="robot0:gripper_link" solimp="0.9 0.95 0.001" solref="0.02 1"></weld>--> </equality> <contact> <!-- <exclude body1="robot0:r_gripper_finger_link" body2="robot0:l_gripper_finger_link"></exclude>--> <exclude body1="robot0:torso_lift_link" body2="robot0:torso_fixed_link"></exclude> <exclude body1="robot0:torso_lift_link" body2="robot0:shoulder_pan_link"></exclude> </contact> <default> <default class="robot0:fetch"> <geom margin="0.001" material="robot0:geomMat" rgba="1 1 1 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh" user="0"></geom> <joint armature="1" damping="50" frictionloss="0" stiffness="0"></joint> <default class="robot0:fetchGripper"> <geom condim="4" margin="0.001" type="box" user="0" rgba="0.356 0.361 0.376 1.0"></geom> <joint armature="100" damping="1000" limited="true" solimplimit="0.99 0.999 0.01" solreflimit="0.01 1" type="slide"></joint> </default> <default class="robot0:grey"> <geom rgba="0.356 0.361 0.376 1.0"></geom> </default> <default class="robot0:blue"> <geom rgba="0.086 0.506 0.767 1.0"></geom> </default> </default> </default> <default> <default class="robot0:asset_class"> <geom friction="1 0.005 0.001" condim="3" margin="0.0005" contype="1" conaffinity="1"></geom> <joint limited="true" damping="0.1" armature="0.001" margin="0.01" frictionloss="0.001"></joint> <site size="0.005" rgba="0.4 0.9 0.4 1"></site> <general ctrllimited="true" forcelimited="true"></general> </default> <default class="robot0:D_Touch"> <site type="box" size="0.009 0.004 0.013" pos="0 -0.004 0.018" rgba="0.8 0.8 0.8 0.15" group="4"></site> </default> <default class="robot0:DC_Hand"> <geom material="robot0:MatColl" contype="1" conaffinity="0" group="4"></geom> </default> <default class="robot0:D_Vizual"> <geom material="robot0:MatViz" contype="0" conaffinity="0" group="1" type="mesh"></geom> </default> <default class="robot0:free"> <joint type="free" damping="0" armature="0" limited="false"></joint> </default> </default> <contact> <pair geom1="robot0:C_ffdistal" geom2="robot0:C_thdistal" condim="1"></pair> <pair geom1="robot0:C_ffmiddle" geom2="robot0:C_thdistal" condim="1"></pair> <pair geom1="robot0:C_ffproximal" geom2="robot0:C_thdistal" condim="1"></pair> <pair geom1="robot0:C_mfproximal" geom2="robot0:C_thdistal" condim="1"></pair> <pair geom1="robot0:C_mfdistal" geom2="robot0:C_thdistal" condim="1"></pair> <pair geom1="robot0:C_rfdistal" geom2="robot0:C_thdistal" condim="1"></pair> <pair geom1="robot0:C_lfdistal" geom2="robot0:C_thdistal" condim="1"></pair> <pair geom1="robot0:C_palm0" geom2="robot0:C_thdistal" condim="1"></pair> <pair geom1="robot0:C_mfdistal" geom2="robot0:C_ffdistal" condim="1"></pair> <pair geom1="robot0:C_rfdistal" geom2="robot0:C_mfdistal" condim="1"></pair> <pair geom1="robot0:C_lfdistal" geom2="robot0:C_rfdistal" condim="1"></pair> <pair geom1="robot0:C_mfproximal" geom2="robot0:C_ffproximal" condim="1"></pair> <pair geom1="robot0:C_rfproximal" geom2="robot0:C_mfproximal" condim="1"></pair> <pair geom1="robot0:C_lfproximal" geom2="robot0:C_rfproximal" condim="1"></pair> <pair geom1="robot0:C_lfdistal" geom2="robot0:C_rfdistal" condim="1"></pair> <pair geom1="robot0:C_lfdistal" geom2="robot0:C_mfdistal" condim="1"></pair> <pair geom1="robot0:C_lfdistal" geom2="robot0:C_rfmiddle" condim="1"></pair> <pair geom1="robot0:C_lfmiddle" geom2="robot0:C_rfdistal" condim="1"></pair> <pair geom1="robot0:C_lfmiddle" geom2="robot0:C_rfmiddle" condim="1"></pair> </contact> <!-- <tendon>--> <!-- <fixed name="robot0:T_FFJ3r" limited="true" range="-0.018 0.018" user="1204">--> <!-- <joint joint="robot0:FFJ3" coef="0.01"></joint>--> <!-- </fixed>--> <!-- <fixed name="robot0:T_FFJ3l" limited="true" range="-0.018 0.018" user="1205">--> <!-- <joint joint="robot0:FFJ3" coef="-0.01"></joint>--> <!-- </fixed>--> <!-- <fixed name="robot0:T_FFJ2u" limited="true" range="-0.007 0.03" user="1202">--> <!-- <joint joint="robot0:FFJ2" coef="0.01"></joint>--> <!-- </fixed>--> <!-- <fixed name="robot0:T_FFJ2d" limited="true" range="-0.03 0.007" user="1203">--> <!-- <joint joint="robot0:FFJ2" coef="-0.01"></joint>--> <!-- </fixed>--> <!-- <fixed name="robot0:T_FFJ1c" limited="true" range="-0.001 0.001">--> <!-- <joint joint="robot0:FFJ0" coef="0.00705"></joint>--> <!-- <joint joint="robot0:FFJ1" coef="-0.00805"></joint>--> <!-- </fixed>--> <!-- <fixed name="robot0:T_FFJ1u" limited="true" range="-0.007 0.03" user="1200">--> <!-- <joint joint="robot0:FFJ0" coef="0.00705"></joint>--> <!-- <joint joint="robot0:FFJ1" coef="0.00805"></joint>--> <!-- </fixed>--> <!-- <fixed name="robot0:T_FFJ1d" limited="true" range="-0.03 0.007" user="1201">--> <!-- <joint joint="robot0:FFJ0" coef="-0.00705"></joint>--> <!-- <joint joint="robot0:FFJ1" coef="-0.00805"></joint>--> <!-- </fixed>--> <!-- <fixed name="robot0:T_MFJ3r" limited="true" range="-0.018 0.018" user="1210">--> <!-- <joint joint="robot0:MFJ3" coef="0.01"></joint>--> <!-- </fixed>--> <!-- <fixed name="robot0:T_MFJ3l" limited="true" range="-0.018 0.018" user="1211">--> <!-- <joint joint="robot0:MFJ3" coef="-0.01"></joint>--> <!-- </fixed>--> <!-- <fixed name="robot0:T_MFJ2u" limited="true" range="-0.007 0.03" user="1208">--> <!-- <joint joint="robot0:MFJ2" coef="0.01"></joint>--> <!-- </fixed>--> <!-- <fixed name="robot0:T_MFJ2d" limited="true" range="-0.03 0.007" user="1209">--> <!-- <joint joint="robot0:MFJ2" coef="-0.01"></joint>--> <!-- </fixed>--> <!-- <fixed name="robot0:T_MFJ1c" limited="true" range="-0.001 0.001">--> <!-- <joint joint="robot0:MFJ0" coef="0.00705"></joint>--> <!-- <joint joint="robot0:MFJ1" coef="-0.00805"></joint>--> <!-- </fixed>--> <!-- <fixed name="robot0:T_MFJ1u" limited="true" range="-0.007 0.03" user="1206">--> <!-- <joint joint="robot0:MFJ0" coef="0.00705"></joint>--> <!-- <joint joint="robot0:MFJ1" coef="0.00805"></joint>--> <!-- </fixed>--> <!-- <fixed name="robot0:T_MFJ1d" limited="true" range="-0.03 0.007" user="1207">--> <!-- <joint joint="robot0:MFJ0" coef="-0.00705"></joint>--> <!-- <joint joint="robot0:MFJ1" coef="-0.00805"></joint>--> <!-- </fixed>--> <!-- <fixed name="robot0:T_RFJ3r" limited="true" range="-0.018 0.018" user="1216">--> <!-- <joint joint="robot0:RFJ3" coef="0.01"></joint>--> <!-- </fixed>--> <!-- <fixed name="robot0:T_RFJ3l" limited="true" range="-0.018 0.018" user="1217">--> <!-- <joint joint="robot0:RFJ3" coef="-0.01"></joint>--> <!-- </fixed>--> <!-- <fixed name="robot0:T_RFJ2u" limited="true" range="-0.007 0.03" user="1214">--> <!-- <joint joint="robot0:RFJ2" coef="0.01"></joint>--> <!-- </fixed>--> <!-- <fixed name="robot0:T_RFJ2d" limited="true" range="-0.03 0.007" user="1215">--> <!-- <joint joint="robot0:RFJ2" coef="-0.01"></joint>--> <!-- </fixed>--> <!-- <fixed name="robot0:T_RFJ1c" limited="true" range="-0.001 0.001">--> <!-- <joint joint="robot0:RFJ0" coef="0.00705"></joint>--> <!-- <joint joint="robot0:RFJ1" coef="-0.00805"></joint>--> <!-- </fixed>--> <!-- <fixed name="robot0:T_RFJ1u" limited="true" range="-0.007 0.03" user="1212">--> <!-- <joint joint="robot0:RFJ0" coef="0.00705"></joint>--> <!-- <joint joint="robot0:RFJ1" coef="0.00805"></joint>--> <!-- </fixed>--> <!-- <fixed name="robot0:T_RFJ1d" limited="true" range="-0.03 0.007" user="1213">--> <!-- <joint joint="robot0:RFJ0" coef="-0.00705"></joint>--> <!-- <joint joint="robot0:RFJ1" coef="-0.00805"></joint>--> <!-- </fixed>--> <!-- <fixed name="robot0:T_LFJ4u" limited="true" range="-0.007 0.03" user="1224">--> <!-- <joint joint="robot0:LFJ4" coef="0.01"></joint>--> <!-- </fixed>--> <!-- <fixed name="robot0:T_LFJ4d" limited="true" range="-0.03 0.007" user="1225">--> <!-- <joint joint="robot0:LFJ4" coef="-0.01"></joint>--> <!-- </fixed>--> <!-- <fixed name="robot0:T_LFJ3r" limited="true" range="-0.018 0.018" user="1222">--> <!-- <joint joint="robot0:LFJ3" coef="0.01"></joint>--> <!-- </fixed>--> <!-- <fixed name="robot0:T_LFJ3l" limited="true" range="-0.018 0.018" user="1223">--> <!-- <joint joint="robot0:LFJ3" coef="-0.01"></joint>--> <!-- </fixed>--> <!-- <fixed name="robot0:T_LFJ2u" limited="true" range="-0.007 0.03" user="1220">--> <!-- <joint joint="robot0:LFJ2" coef="0.01"></joint>--> <!-- </fixed>--> <!-- <fixed name="robot0:T_LFJ2d" limited="true" range="-0.03 0.007" user="1221">--> <!-- <joint joint="robot0:LFJ2" coef="-0.01"></joint>--> <!-- </fixed>--> <!-- <fixed name="robot0:T_LFJ1c" limited="true" range="-0.001 0.001">--> <!-- <joint joint="robot0:LFJ0" coef="0.00705"></joint>--> <!-- <joint joint="robot0:LFJ1" coef="-0.00805"></joint>--> <!-- </fixed>--> <!-- <fixed name="robot0:T_LFJ1u" limited="true" range="-0.007 0.03" user="1218">--> <!-- <joint joint="robot0:LFJ0" coef="0.00705"></joint>--> <!-- <joint joint="robot0:LFJ1" coef="0.00805"></joint>--> <!-- </fixed>--> <!-- <fixed name="robot0:T_LFJ1d" limited="true" range="-0.03 0.007" user="1219">--> <!-- <joint joint="robot0:LFJ0" coef="-0.00705"></joint>--> <!-- <joint joint="robot0:LFJ1" coef="-0.00805"></joint>--> <!-- </fixed>--> <!-- <fixed name="robot0:T_THJ4a" limited="true" range="-0.018 0.018" user="1234">--> <!-- <joint joint="robot0:THJ4" coef="0.01636"></joint>--> <!-- </fixed>--> <!-- <fixed name="robot0:T_THJ4c" limited="true" range="-0.018 0.018" user="1235">--> <!-- <joint joint="robot0:THJ4" coef="-0.01636"></joint>--> <!-- </fixed>--> <!-- <fixed name="robot0:T_THJ3u" limited="true" range="-0.007 0.03" user="1232">--> <!-- <joint joint="robot0:THJ3" coef="0.01"></joint>--> <!-- </fixed>--> <!-- <fixed name="robot0:T_THJ3d" limited="true" range="-0.03 0.007" user="1233">--> <!-- <joint joint="robot0:THJ3" coef="-0.01"></joint>--> <!-- </fixed>--> <!-- <fixed name="robot0:T_THJ2u" limited="true" range="-0.018 0.018" user="1230">--> <!-- <joint joint="robot0:THJ2" coef="0.011"></joint>--> <!-- </fixed>--> <!-- <fixed name="robot0:T_THJ2d" limited="true" range="-0.018 0.018" user="1231">--> <!-- <joint joint="robot0:THJ2" coef="-0.011"></joint>--> <!-- </fixed>--> <!-- <fixed name="robot0:T_THJ1r" limited="true" range="-0.018 0.018" user="1228">--> <!-- <joint joint="robot0:THJ1" coef="0.011"></joint>--> <!-- </fixed>--> <!-- <fixed name="robot0:T_THJ1l" limited="true" range="-0.018 0.018" user="1229">--> <!-- <joint joint="robot0:THJ1" coef="-0.011"></joint>--> <!-- </fixed>--> <!-- <fixed name="robot0:T_THJ0r" limited="true" range="-0.03 0.007" user="1226">--> <!-- <joint joint="robot0:THJ0" coef="0.009"></joint>--> <!-- </fixed>--> <!-- <fixed name="robot0:T_THJ0l" limited="true" range="-0.007 0.03" user="1227">--> <!-- <joint joint="robot0:THJ0" coef="-0.009"></joint>--> <!-- </fixed>--> <!-- </tendon>--> <!-- <sensor>--> <!-- <jointpos name="robot0:Sjp_WRJ1" joint="robot0:WRJ1"></jointpos>--> <!-- <jointpos name="robot0:Sjp_WRJ0" joint="robot0:WRJ0"></jointpos>--> <!-- <jointpos name="robot0:Sjp_FFJ3" joint="robot0:FFJ3"></jointpos>--> <!-- <jointpos name="robot0:Sjp_FFJ2" joint="robot0:FFJ2"></jointpos>--> <!-- <jointpos name="robot0:Sjp_FFJ1" joint="robot0:FFJ1"></jointpos>--> <!-- <jointpos name="robot0:Sjp_FFJ0" joint="robot0:FFJ0"></jointpos>--> <!-- <jointpos name="robot0:Sjp_MFJ3" joint="robot0:MFJ3"></jointpos>--> <!-- <jointpos name="robot0:Sjp_MFJ2" joint="robot0:MFJ2"></jointpos>--> <!-- <jointpos name="robot0:Sjp_MFJ1" joint="robot0:MFJ1"></jointpos>--> <!-- <jointpos name="robot0:Sjp_MFJ0" joint="robot0:MFJ0"></jointpos>--> <!-- <jointpos name="robot0:Sjp_RFJ3" joint="robot0:RFJ3"></jointpos>--> <!-- <jointpos name="robot0:Sjp_RFJ2" joint="robot0:RFJ2"></jointpos>--> <!-- <jointpos name="robot0:Sjp_RFJ1" joint="robot0:RFJ1"></jointpos>--> <!-- <jointpos name="robot0:Sjp_RFJ0" joint="robot0:RFJ0"></jointpos>--> <!-- <jointpos name="robot0:Sjp_LFJ4" joint="robot0:LFJ4"></jointpos>--> <!-- <jointpos name="robot0:Sjp_LFJ3" joint="robot0:LFJ3"></jointpos>--> <!-- <jointpos name="robot0:Sjp_LFJ2" joint="robot0:LFJ2"></jointpos>--> <!-- <jointpos name="robot0:Sjp_LFJ1" joint="robot0:LFJ1"></jointpos>--> <!-- <jointpos name="robot0:Sjp_LFJ0" joint="robot0:LFJ0"></jointpos>--> <!-- <jointpos name="robot0:Sjp_THJ4" joint="robot0:THJ4"></jointpos>--> <!-- <jointpos name="robot0:Sjp_THJ3" joint="robot0:THJ3"></jointpos>--> <!-- <jointpos name="robot0:Sjp_THJ2" joint="robot0:THJ2"></jointpos>--> <!-- <jointpos name="robot0:Sjp_THJ1" joint="robot0:THJ1"></jointpos>--> <!-- <jointpos name="robot0:Sjp_THJ0" joint="robot0:THJ0"></jointpos>--> <!-- <touch name="robot0:ST_Tch_fftip" site="robot0:Tch_fftip"></touch>--> <!-- <touch name="robot0:ST_Tch_mftip" site="robot0:Tch_mftip"></touch>--> <!-- <touch name="robot0:ST_Tch_rftip" site="robot0:Tch_rftip"></touch>--> <!-- <touch name="robot0:ST_Tch_lftip" site="robot0:Tch_lftip"></touch>--> <!-- <touch name="robot0:ST_Tch_thtip" site="robot0:Tch_thtip"></touch>--> <!-- 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zjxiaobai/my_gym
9db6eef8398566217880649ce2eda95cdfb59571
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<?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="0.8 0.75 0" size="0.85 0.7 1" type="plane" condim="3" material="floor_mat"></geom> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" size="0.01 0.01 0.01" rgba="1.0 0.5 0.5 1" type="sphere"></site> <site name="target1" pos="0.4 -0.2 0.5" size="0.01 0.01 0.01" rgba="0.1 0.5 0.5 1" type="sphere"></site> <!-- <site name="target2" pos="0.4 0.2 0.5" size="0.02 0.02 0.02" rgba="1 0 1 1" type="sphere"></site> --> </body> <include file="robot.xml"></include> <body pos="0.25 0.35 0.2" name="table0"> <geom size="0.25 0.35 0.2" type="box" mass="2000" material="table_mat"></geom> <joint name="table0:slide0" type="slide" axis="1 0 0" damping="10000" pos="0 0 0"></joint> <joint name="table0:slide1" type="slide" axis="0 1 0" damping="10000" pos="0 0 0"></joint> <joint name="table0:slide2" type="slide" axis="0 0 1" damping="10000" pos="0 0 0"></joint> </body> <body name="object0" pos="0.025 0.025 0.025"> <joint name="object0:joint" type="free" damping="0.01"></joint> <geom size="0.02 0.02 0.02" type="box" condim="3" name="object0" material="block_mat" mass="2" rgba="1.0 0.5 0.5 1"></geom> <site name="object0" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site> </body> <body name="object1" pos="1.5 0.5 0.5"> <joint name="object1:joint" type="free" damping="0.01"></joint> <geom size="0.02 0.02 0.02" type="box" condim="3" name="object1" material="block_mat" mass="2" rgba="0.1 0.5 0.5 1"></geom> <site name="object1" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site> </body> <!-- <body name="object2" pos="1.5 1.0 0.5"> <joint name="object2:joint" type="free" damping="0.01"></joint> <geom size="0.02 0.02 0.02" type="box" condim="3" name="object2" material="block_mat" mass="2" rgba=".1 .7 .3 1"></geom> <site name="object2" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site> </body> --> <!-- <body name="bow0" pos="1.4 0.5 0.5"> <joint name="bow0:joint" type="free" damping="0.01"></joint> <geom size="0.035 0.035 0.015" type="box" condim="3" name="bow0" material="block_mat" mass="2" rgba="1.0 0.5 0.5 1"></geom> <site name="bow0" pos="0 0 0" size="0.015 0.015 0.015" rgba="1 0 0 1" type="sphere"></site> </body> <body name="bow1" pos="1.4 0.7 0.5"> <joint name="bow1:joint" type="free" damping="0.01"></joint> <geom size="0.035 0.035 0.015" type="box" condim="3" name="bow1" material="block_mat" mass="2" rgba="0.1 0.5 0.5 1"></geom> <site name="bow1" pos="0 0 0" size="0.015 0.015 0.015" rgba="1 0 0 1" type="sphere"></site> </body> --> <!-- <body name="bow2" pos="1.4 0.9 0.5"> <joint name="bow2:joint" type="free" damping="0.01"></joint> <geom size="0.035 0.035 0.015" type="box" condim="3" name="bow2" material="block_mat" mass="2" rgba=".6 .1 .9 1"></geom> <site name="bow2" pos="0 0 0" size="0.015 0.015 0.015" 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> <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>
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xml
XML
herb_reconf/cluttered_scenes/easy_pushing_015_peach_2_0.1_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/easy_pushing_015_peach_2_0.1_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/easy_pushing_015_peach_2_0.1_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
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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>
118.894737
2,295
0.688776
7cc3535633e7ca6fad8ea5ce2cbd0efad8a3edc0
1,772
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/4289_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/4289_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/4289_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/428/428.stl" name="obj0" scale="0.005085024366304641 0.005085024366304641 0.005085024366304641" /> </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="0.02355004197905802 0.036195821269816936 0.008791946109048328"> <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="-0.0005752106099564659 -0.015066843205142587 0.00015275436900373654" rgba="1 0 0 0" size="0.01177502098952901 0.018097910634908468 0.004395973054524164" type="ellipsoid" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
43.219512
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0.670993
7cc3d3fa2d586ac8502d779b3710b21823e7cffd
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xml
XML
pybullet-gym/pybulletgym/envs/assets/mjcf/striker.xml
SmaleZ/vcl_diayn
b2c47a681675b405d2011bc4a43c3914f3af4ecc
[ "MIT" ]
2
2021-07-12T17:11:35.000Z
2021-07-13T05:56:30.000Z
pybullet-gym/pybulletgym/envs/assets/mjcf/striker.xml
SmaleZ/vcl_diayn
b2c47a681675b405d2011bc4a43c3914f3af4ecc
[ "MIT" ]
null
null
null
pybullet-gym/pybulletgym/envs/assets/mjcf/striker.xml
SmaleZ/vcl_diayn
b2c47a681675b405d2011bc4a43c3914f3af4ecc
[ "MIT" ]
null
null
null
<mujoco model="arm3d"> <compiler inertiafromgeom="true" angle="radian" coordinate="local"/> <option timestep="0.01" gravity="0 0 0" iterations="20" integrator="Euler"/> <default> <joint armature='0.04' damping="1" limited="true"/> <geom friction=".0 .0 .0" density="300" margin="0.002" condim="1" contype="0" conaffinity="0"/> </default> <worldbody> <light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/> <geom name="table" type="plane" pos="0 0.5 -0.325" size="1 1 0.1" contype="1" conaffinity="1"/> <body name="r_shoulder_pan_link" pos="0 -0.6 0"> <geom name="e1" type="sphere" rgba="0.6 0.6 0.6 1" pos="-0.06 0.05 0.2" size="0.05"/> <geom name="e2" type="sphere" rgba="0.6 0.6 0.6 1" pos=" 0.06 0.05 0.2" size="0.05"/> <geom name="e1p" type="sphere" rgba="0.1 0.1 0.1 1" pos="-0.06 0.09 0.2" size="0.03"/> <geom name="e2p" type="sphere" rgba="0.1 0.1 0.1 1" pos=" 0.06 0.09 0.2" size="0.03"/> <geom name="sp" type="capsule" fromto="0 0 -0.4 0 0 0.2" size="0.1" /> <joint name="r_shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-2.2854 1.714602" damping="1.0" /> <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" /> <joint name="r_shoulder_lift_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.5236 1.3963" damping="1.0" /> <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" /> <joint name="r_upper_arm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.5 1.7" damping="0.1" /> <body name="r_upper_arm_link" pos="0 0 0"> <geom name="ua" type="capsule" fromto="0 0 0 0.4 0 0" size="0.06" /> <body name="r_elbow_flex_link" pos="0.4 0 0"> <geom name="ef" type="capsule" fromto="0 -0.02 0 0.0 0.02 0" size="0.06" /> <joint name="r_elbow_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-2.3213 0" damping="0.1" /> <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" /> <joint name="r_forearm_roll_joint" type="hinge" limited="true" pos="0 0 0" axis="1 0 0" damping=".1" range="-1.5 1.5"/> <body name="r_forearm_link" pos="0 0 0"> <geom name="fa" type="capsule" fromto="0 0 0 0.291 0 0" size="0.05" /> <body name="r_wrist_flex_link" pos="0.321 0 0"> <geom name="wf" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.01" /> <joint name="r_wrist_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-1.094 0" damping=".1" /> <body name="r_wrist_roll_link" pos="0 0 0"> <joint name="r_wrist_roll_joint" type="hinge" pos="0 0 0" limited="true" axis="1 0 0" damping="0.1" range="-1.5 1.5"/> <body name="tips_arm" pos="0 0 0"> <geom conaffinity="1" contype="1" name="tip_arml" pos="0.017 0 0" size="0.003 0.12 0.05" type="box" /> </body> <geom conaffinity="1" contype="1" fromto="0 -0.1 0. 0.0 +0.1 0" size="0.02" type="capsule" /> </body> </body> </body> </body> </body> </body> </body> </body> </body> <body name="object" pos="0 0 -0.270" > <geom type="sphere" rgba="1 1 1 1" pos="0 0 0" size="0.05 0.05 0.05" contype="1" conaffinity="0"/> <joint name="obj_slidey" armature="0.1" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0.5"/> <joint name="obj_slidex" armature="0.1" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0.5"/> </body> <body name="goal" pos="0.0 0.0 -0.3230"> <geom rgba="1. 1. 1. 0" pos="0 0 0" type="box" size="0.01 0.01 0.01" contype="0" conaffinity="0"/> <body pos="0 0 0"> <geom rgba="1. 1. 1. 1" pos="0 0.075 0.04" type="box" size="0.032 0.001 0.04" contype="0" conaffinity="1"/> </body> <body name="coaster" pos="0 0 0"> <geom rgba="1. 1. 1. 1" type="cylinder" size="0.08 0.001 0.1" density='1000000' contype="0" conaffinity="0"/> </body> <body pos="0 0 0" axisangle="0 0 1 0.785"> <geom rgba="1. 1. 1. 1" pos="0 0.075 0.04" type="box" size="0.032 0.001 0.04" contype="0" conaffinity="1"/> </body> <body pos="0 0 0" axisangle="0 0 1 -0.785"> <geom rgba="1. 1. 1. 1" pos="0 0.075 0.04" type="box" size="0.032 0.001 0.04" contype="0" conaffinity="1"/> </body> <joint name="goal_slidey" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="1.0"/> <joint name="goal_slidex" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="1.0"/> </body> </worldbody> <actuator> <motor joint="r_shoulder_pan_joint" ctrlrange="-3.0 3.0" ctrllimited="true" /> <motor joint="r_shoulder_lift_joint" ctrlrange="-3.0 3.0" ctrllimited="true" /> <motor joint="r_upper_arm_roll_joint" ctrlrange="-3.0 3.0" ctrllimited="true" /> <motor joint="r_elbow_flex_joint" ctrlrange="-3.0 3.0" ctrllimited="true" /> <motor joint="r_forearm_roll_joint" ctrlrange="-3.0 3.0" ctrllimited="true" /> <motor joint="r_wrist_flex_joint" ctrlrange="-3.0 3.0" ctrllimited="true" /> <motor joint="r_wrist_roll_joint" ctrlrange="-3.0 3.0" ctrllimited="true"/> </actuator> </mujoco>
54.427184
140
0.555298
7cc407983016e9af40c26460e5d7cf60b2dbc16a
1,770
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/4360_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/4360_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/4360_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/436/436.stl" name="obj0" scale="0.012815648902449208 0.012815648902449208 0.012815648902449208" /> </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="0.01698569445187045 0.08082858597984746 0.03250596430651699"> <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="-0.0008115946313203896 -0.018166964200653002 -0.0020764931006202717" rgba="1 0 0 0" size="0.008492847225935225 0.04041429298992373 0.016252982153258495" 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
0.670056
7cc45f63776bc3cf045cf4c62db6ac9b1bcdf760
1,772
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/6354_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/6354_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/6354_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/635/635.stl" name="obj0" scale="0.003870346349148983 0.003870346349148983 0.003870346349148983" /> </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="0.023794856456623978 0.03326786973664484 0.018271746430132036"> <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="-0.0052047062509704865 -0.010138260246082947 -0.0021397256646780096" rgba="1 0 0 0" size="0.011897428228311989 0.01663393486832242 0.009135873215066018" type="ellipsoid" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
43.219512
201
0.670429
7cc55e7e8552a9468e2e9141f90422fc8ee1d350
2,561
xml
XML
multiworld/envs/assets/sawyer_xyz/sawyer_push_puck_arena.xml
kshitijsachan/multiworld
a293703dbe0e2fdd9947ae404c9cba74162c8b2b
[ "MIT" ]
null
null
null
multiworld/envs/assets/sawyer_xyz/sawyer_push_puck_arena.xml
kshitijsachan/multiworld
a293703dbe0e2fdd9947ae404c9cba74162c8b2b
[ "MIT" ]
null
null
null
multiworld/envs/assets/sawyer_xyz/sawyer_push_puck_arena.xml
kshitijsachan/multiworld
a293703dbe0e2fdd9947ae404c9cba74162c8b2b
[ "MIT" ]
null
null
null
<?xml version="1.0" encoding="utf-8"?> <mujoco> <include file="shared_config.xml"></include> <worldbody> <include file="sawyer_xyz_base_pusher.xml"></include> <body name="puck" pos="0 0 .1"> <joint name="puckjoint" type="free" limited='false' damping="1" armature="0" /> <inertial pos="0 0 0" mass=".1" diaginertia=".1 .1 .1"/> <geom name="puckbox" type="cylinder" pos="0 0 0" size="0.07 0.02" rgba=".1 .1 .9 1" contype="2" conaffinity="2" friction=".1 .005 .0001" /> <site name="puck" pos="0 0 0" size="0.01" /> </body> <body name="arena" pos="0 .6 0"> <geom name="arena base" type="box" pos="0 0.0 0" size="0.3 0.3 0.01" rgba=".6 .6 .5 1" contype="2" conaffinity="2" friction=".1 .005 .0001"/> <geom name="arena side 1" type="box" pos="-.3 0.0 0.025" size="0.2 0.5 0.01" rgba=".6 .6 .5 1" contype="2" conaffinity="2" euler="0 .707 0" friction=".1 .005 .0001"/> <geom name="arena side 2" type="box" pos=".3 0.0 0.025" size="0.2 0.5 0.01" rgba=".6 .6 .5 1" contype="2" conaffinity="2" euler="0 -.707 0" friction=".1 .005 .0001"/> <geom name="arena side 3" type="box" pos=".0 0.3 0.025" size="0.5 0.2 0.01" rgba=".6 .6 .5 1" contype="2" conaffinity="2" euler=".707 0 0" friction=".1 .005 .0001"/> <geom name="arena side 4" type="box" pos=".0 -0.3 0.025" size="0.5 0.2 0.01" rgba=".6 .6 .5 1" contype="2" conaffinity="2" euler="-.707 0 0" friction=".1 .005 .0001"/> </body> <site name="hand-goal-site" pos="0 0 0" size="0.02" rgba="1 0.5 0.5 0.5"/> <site name="puck-goal-site" pos="0 0 0.02" size="0.02" rgba="0.5 0.5 1 0.5"/> </worldbody> <actuator> <motor joint="right_j0" ctrlrange="-100.0 100.0" ctrllimited="false"/> <motor joint="right_j1" ctrlrange="-100.0 100.0" ctrllimited="false"/> <motor joint="right_j2" ctrlrange="-100.0 100.0" ctrllimited="false"/> <motor joint="right_j3" ctrlrange="-100.0 100.0" ctrllimited="false"/> <motor joint="right_j4" ctrlrange="-100.0 100.0" ctrllimited="false"/> <motor joint="right_j5" ctrlrange="-100.0 100.0" ctrllimited="false"/> <motor joint="right_j6" ctrlrange="-100.0 100.0" ctrllimited="false"/> <motor gear="100" joint="rc_close" /> </actuator> </mujoco>
51.22
101
0.527138
7cc66698701844141d8bd8d38ec348a370081bc6
5,076
xml
XML
code/environment/assets/xml/shared.xml
alandevine/HAROLD
c0afa07d83b87c67e273d5840a547bc436ac9646
[ "MIT" ]
null
null
null
code/environment/assets/xml/shared.xml
alandevine/HAROLD
c0afa07d83b87c67e273d5840a547bc436ac9646
[ "MIT" ]
null
null
null
code/environment/assets/xml/shared.xml
alandevine/HAROLD
c0afa07d83b87c67e273d5840a547bc436ac9646
[ "MIT" ]
null
null
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assets/fetch_complex_objects/fetch/train_scene_hook_895.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_895.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_895.xml
NagisaZj/ac-teach
481811d5c80d0dbee54f16c063b4ea3262b82050
[ "MIT" ]
8
2019-10-24T23:36:58.000Z
2022-01-27T13:36:39.000Z
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assets/fetch_complex_objects/fetch/train_scene_hook_763.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_763.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_763.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="0.008508078172914851 0.002417256449553721 0.00451295287876074" pos="0.14402304962835832 0.2896955031277593 0.20451295287876076" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom> <geom size="0.032420855090119535 0.002710633695497844 0.0019259062464264114" pos="-0.024855410962634772 0.24902154402554072 0.20192590624642642" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom> <geom size="0.01581128081547418 0.0038805591364799016 0.004116390188441523" pos="0.21531208759537585 0.24465759370024825 0.20411639018844152" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom> <geom size="0.022736418052751138 0.026117254713666268 0.004967299189825665" pos="0.04695930792090497 0.298591952536485 0.20496729918982567" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom> <geom size="0.01450320217366001 0.009467253920447942 0.003566195810457245" pos="0.20997453446335862 0.21697341606719817 0.20356619581045726" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom> <geom size="0.030531622017738538 0.023056912583551956 0.0034740201222109362" pos="0.05249854496550865 -0.1324958224687468 0.20347402012221094" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom> <geom size="0.03301663227322933 0.0217914380567557 0.0010523645629365557" pos="0.1761296801768955 -0.2572176056573701 0.20105236456293657" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom> <geom size="0.03978463035737474 0.018364882369666703 0.0006578185693194338" pos="-0.08886695670210151 -0.002537348602685341 0.20065781856931944" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom> <geom size="0.03254240879010063 0.03247153448839329 0.0012975673582119429" pos="-0.17217099641825692 0.11935326832800314 0.20129756735821194" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom> </body> <body pos="1.320710817185 0.6694042967466 0.4129999999999999" name="object0"> <light castshadow="false"/> <geom type="mesh" density="13040.163042" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/> <joint name="object0:joint" type="free" damping="2.3974599506763608"></joint> <site name="object0" pos="0.05428918281500006 0.015595703253400095 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="0.00324482613607 0.00324482613607 0.00324482613607" file="mujoco_models/hubble_model_kit_2.stl" name="object_mesh"/> <texture file="textures/obj_textures/scaly_0214.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>
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xml
XML
dex_envs/assets/hand/manipulate_m_lego_duplo.xml
huangwl18/geometry-dex
0c629316258ef560b360c6103d83d5cb828e3ccd
[ "MIT" ]
29
2021-11-11T23:05:02.000Z
2022-03-10T06:05:23.000Z
dex_envs/assets/hand/manipulate_m_lego_duplo.xml
huangwl18/geometry-dex
0c629316258ef560b360c6103d83d5cb828e3ccd
[ "MIT" ]
2
2021-12-13T16:18:14.000Z
2022-03-09T14:04:37.000Z
dex_envs/assets/hand/manipulate_m_lego_duplo.xml
huangwl18/geometry-dex
0c629316258ef560b360c6103d83d5cb828e3ccd
[ "MIT" ]
2
2021-11-18T06:00:30.000Z
2021-12-17T03:04:52.000Z
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../stls/hand" texturedir="../textures"/> <option timestep="0.002" iterations="20" apirate="200"> <flag warmstart="enable"/> </option> <include file="shared.xml"/> <asset> <include file="shared_asset.xml"/> <texture name="texture:object" file="block.png" gridsize="3 4" gridlayout=".U..LFRB.D.."/> <texture name="texture:hidden" file="block_hidden.png" gridsize="3 4" gridlayout=".U..LFRB.D.."/> <material name="material:object" texture="texture:object" specular="1" shininess="0.3" reflectance="0"/> <material name="material:hidden" texture="texture:hidden" specular="1" shininess="0.3" reflectance="0"/> <material name="material:target" texture="texture:object" specular="1" shininess="0.3" reflectance="0" rgba="1 1 1 0.5"/> <mesh name="mesh:object" file="ycb_objects/m_lego_duplo.stl"/></asset> <worldbody> <geom name="floor0" pos="1 1 0" size="1 1 1" type="plane" condim="3" material="floor_mat"/> <body name="floor0" pos="1 1 0"/> <include file="robot.xml"/> <body name="object" pos="1 0.87 0.2"> <geom name="object" type="mesh" size="0" material="material:object" condim="4" density="567" mesh="mesh:object"/> <!-- <geom name="object_hidden" type="box" size="0.024 0.024 0.024" material="material:hidden" condim="4" contype="0" conaffinity="0" mass="0"></geom> --> <site name="object:center" pos="0 0 0" rgba="1 0 0 0" size="0.01 0.01 0.01"/> <joint name="object:joint" type="free" damping="0.01"/> </body> <body name="target" pos="1 0.87 0.2"> <geom name="target" type="mesh" size="0" material="material:target" condim="4" group="2" contype="0" conaffinity="0" mesh="mesh:object"/> <site name="target:center" pos="0 0 0" rgba="1 0 0 0" size="0.01 0.01 0.01"/> <joint name="target:joint" type="free" damping="0.01"/> </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 1 4" dir="0 0 -1" name="light0"/> </worldbody> </mujoco>
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XML
herb_reconf/cluttered_scenes/hard_pushing_cup_2_0_0.5_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/hard_pushing_cup_2_0_0.5_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/hard_pushing_cup_2_0_0.5_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
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class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/> <geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/> <geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/> <body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0"> <inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/> <joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/> <body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683"> <inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/> <joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/> </body> </body> </body> <body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5"> <inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/> <joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/> <body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683"> <inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/> <joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body>--> </body> <light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/> </body> <!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998"> <geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/> <joint name="//unnamed_joint_2" class="/" type="free"/> </body> <body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998"> <geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/> <joint name="//unnamed_joint_3" class="/" type="free"/> </body> <body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998"> <geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/> <joint name="//unnamed_joint_4" class="/" type="free"/> </body> --> <!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998"> <geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/> <joint name="//unnamed_joint_5" class="/" type="free"/> </body>--> <!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998"> <geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/> <joint name="//unnamed_joint_6" class="/" type="free"/> </body>--> <!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998"> <geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325"> <geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/> <joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/> </body> <body name="target_obj" pos="0 0.0 0.325"> <geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/> </body>--> <!--<body name="gen_body_0" pos="0 0.0 0.3549998"> <geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/> <joint name="//unnamed_joint_0" class="/" type="free"/> </body>--> <!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998"> <geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/> </body>--> <!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!-- <body name="virt_box_2" pos="0 .45 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/> </body> <body name="virt_box_3" pos="0 0.57243499223068691 0.3549998"> <geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/> </body> --> <body euler="0 0 2.0976704417414913" name="gen_body_0" pos="0 0 0.49873976707458495"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.4981094352456573 0.6189069652263383 0.299820606869473 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 5.143881773719209" name="gen_body_gadded_1" pos="0.2514431659089974 0.0 0.3130896962421261"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.21873669507950155 0.1262685111000329 0.17788956358554553 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 4.6610712959665115" name="gen_body_gadded_2" pos="-0.29687033673963714 0.0539329551880284 0.3001598929885992"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.6029946544606923 0.2747033284424112 0.9889239528238212 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body></worldbody> <contact> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/> <!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> --> <!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/> <exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/> <exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/> <exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/> <exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/> <exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/> <exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/> <exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>--> </contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/> <position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/> <position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/> <position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/> <position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/> <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" /> <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" /> <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" /> <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" /> <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" /> <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>--> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/> <!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/> <position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/> <position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/> <position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/> <position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>--> </actuator> </mujoco>
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7ccabdfd330195b7871f00f68d91c891a80b370f
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xml
XML
adept_envs/adept_models/kitchen/assets/slidecabinet_asset.xml
isabella232/DBAP-simulation
bdba0b58c4a01e0742e97299ce3bd1587ad2aa25
[ "Apache-2.0" ]
2
2021-08-09T23:45:17.000Z
2021-11-05T15:28:41.000Z
adept_envs/adept_models/kitchen/assets/slidecabinet_asset.xml
google-research/DBAP-simulation
bdba0b58c4a01e0742e97299ce3bd1587ad2aa25
[ "Apache-2.0" ]
1
2022-01-16T14:03:20.000Z
2022-01-16T14:03:20.000Z
adept_envs/adept_models/kitchen/assets/slidecabinet_asset.xml
isabella232/DBAP-simulation
bdba0b58c4a01e0742e97299ce3bd1587ad2aa25
[ "Apache-2.0" ]
2
2021-11-05T15:28:31.000Z
2022-01-16T12:00:17.000Z
<?xml version="1.0"?> <mujocoinclude> <compiler inertiafromgeom="auto" inertiagrouprange="4 4" angle="radian"/> <asset> <texture name="T_slide_metal" type="cube" height="1" width="1" file="../kitchen/textures/metal1.png"/> <material name="M_slide_metal" texture="T_slide_metal" texrepeat="3 3" reflectance="0.7" shininess=".4" texuniform="false"/> <material name="M_slide_blue" rgba=".46 .5 .6 1" reflectance="0.7" shininess=".4"/> <material name="slide_collision_blue" rgba="0.3 0.3 1.0 0.5" shininess="0" specular="0"/> </asset> <default> <default class="slidecabinet"> <joint damping="2" frictionloss="2" armature=".01" limited="true"/> <geom conaffinity="0" contype="0" group="1" material="M_slide_blue" type="mesh"/> <default class="slide_collision"> <geom conaffinity="1" condim="3" contype="0" group="4" margin="0.001" material="slide_collision_blue"/> </default> </default> </default> </mujocoinclude>
48.8
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xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/9041_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/9041_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/9041_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/904/904.stl" name="obj0" scale="0.007923482853964672 0.007923482853964672 0.007923482853964672" /> </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="0.005859078822485581 0.04415360424197671 0.22037804899538332"> <joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" /> </body> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> </mujoco>
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xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/5670_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/5670_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/5670_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/567/567.stl" name="obj0" scale="0.005301486947805403 0.005301486947805403 0.005301486947805403" /> </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="0.016774774146715736 0.04 0.03482547306162064" 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="-0.0016517561958134764 -0.007446891625290342 0.03228399927540682" size="0.028474400648694935 0.030743105517817754 0.04404627873194418" type="box" zaxis="1.0 0.0 0.0" /> <site name="object0" pos="0.0012276232959929287 -0.007381954448789228 0.0050124946901783825" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> <site name="handle0" pos="-0.0016517561958134764 -0.007446891625290342 0.02228399927540682" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
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xml
XML
robosuite/scripts/~/Robotics/1581903573_7626145/ep_1581904481_7701993/model.xml
clj003/mod_surreal2
1c91ed1d85acdb8b82dae46c49153d547301d2d9
[ "MIT" ]
null
null
null
robosuite/scripts/~/Robotics/1581903573_7626145/ep_1581904481_7701993/model.xml
clj003/mod_surreal2
1c91ed1d85acdb8b82dae46c49153d547301d2d9
[ "MIT" ]
null
null
null
robosuite/scripts/~/Robotics/1581903573_7626145/ep_1581904481_7701993/model.xml
clj003/mod_surreal2
1c91ed1d85acdb8b82dae46c49153d547301d2d9
[ "MIT" ]
null
null
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gym/envs/robotics/assets/fetch/random_obj_xml/5772_grasp.xml
Jekyll1021/gym
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gym/envs/robotics/assets/fetch/random_obj_xml/5772_grasp.xml
Jekyll1021/gym
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wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
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herb_reconf/cluttered_scenes/hard_pushing_025_mug_1_0.9_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
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herb_reconf/cluttered_scenes/hard_pushing_025_mug_1_0.9_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
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class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/> <geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/> <geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/> <body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0"> <inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/> <joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/> <body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683"> <inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/> <joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/> </body> </body> </body> <body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5"> <inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/> <joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/> <body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683"> <inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/> <joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body>--> </body> <light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/> </body> <!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998"> <geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/> <joint name="//unnamed_joint_2" class="/" type="free"/> </body> <body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998"> <geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/> <joint name="//unnamed_joint_3" class="/" type="free"/> </body> <body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998"> <geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/> <joint name="//unnamed_joint_4" class="/" type="free"/> </body> --> <!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998"> <geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/> <joint name="//unnamed_joint_5" class="/" type="free"/> </body>--> <!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998"> <geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/> <joint name="//unnamed_joint_6" class="/" type="free"/> </body>--> <!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998"> <geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325"> <geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/> <joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/> </body> <body name="target_obj" pos="0 0.0 0.325"> <geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/> </body>--> <!--<body name="gen_body_0" pos="0 0.0 0.3549998"> <geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/> <joint name="//unnamed_joint_0" class="/" type="free"/> </body>--> <!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998"> <geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/> </body>--> <!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!-- <body name="virt_box_2" pos="0 .45 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/> </body> <body name="virt_box_3" pos="0 0.57243499223068691 0.3549998"> <geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/> </body> --> <body euler="0 0 4.070571343838642" name="gen_body_0" pos="0 0 0.3005319999763742"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.31181558625802286 0.29453893604825887 0.536556057679717 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 3.2255385155955483" name="gen_body_gadded_1" pos="0.14310060281286374 0.0 0.3005513520649634"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.8997668128678719 0.028156849858091526 0.8797771991281833 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 3.147839670633281" name="gen_body_gadded_2" pos="0.438427141510613 -0.03381516959576127 0.300225613612488"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.2635976188519291 0.2635637343592562 0.16118336285100276 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body></worldbody> <contact> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/> <!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> --> <!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/> <exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/> <exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/> <exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/> <exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/> <exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/> <exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/> <exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>--> </contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/> <position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/> <position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/> <position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/> <position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/> <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" /> <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" /> <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" /> <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" /> <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" /> <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>--> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/> <!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/> <position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/> <position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/> <position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/> <position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>--> </actuator> </mujoco>
115.918129
939
0.685905