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<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> | 121.350078 | 1,608 | 0.684787 |
b57518701f9ba8f93d9e8685ea24bf6fd8cf22b5 | 1,766 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7820_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7820_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7820_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/782/782.stl" name="obj0" scale="0.006966805680487267 0.006966805680487267 0.006966805680487267" />
</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="0.03636848477057786 0.06132455110407284 0.03833193613210674">
<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="-0.0020716321099459685 -0.02109636143158178 0.0017653400625926095" rgba="1 0 0 0" size="0.01818424238528893 0.03066227555203642 0.01916596806605337" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.073171 | 197 | 0.669875 |
b575544030eb471583d2ec7a44583cd86bc83cc8 | 2,720 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/1147_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1147_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1147_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/114/114.stl" name="obj0" scale="0.006089021957698195 0.006089021957698195 0.006089021957698195" />
</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="0.018524607145817388 0.04 0.01410207134065574" 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="0.0007178835102789605 -0.005461041076222894 0.032195610579560247" size="0.012177085397617539 0.01642689561619998 0.045427536634878946" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="0.0020563266393478843 -0.004723138959707444 0.0008701452853370381" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.0007178835102789605 -0.005461041076222894 0.022195610579560245" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.37037 | 223 | 0.657721 |
b575c72890f1b553760299b0cce6bb41d1696bd4 | 7,783 | xml | XML | metagym/metalocomotion/envs/assets/humanoids/humanoid_var_tst_013.xml | WorldEditors/RLSchool | a368937ab23c8d56f8b46d6c2de74d607d7a12bb | [
"Apache-2.0"
] | null | null | null | metagym/metalocomotion/envs/assets/humanoids/humanoid_var_tst_013.xml | WorldEditors/RLSchool | a368937ab23c8d56f8b46d6c2de74d607d7a12bb | [
"Apache-2.0"
] | null | null | null | metagym/metalocomotion/envs/assets/humanoids/humanoid_var_tst_013.xml | WorldEditors/RLSchool | a368937ab23c8d56f8b46d6c2de74d607d7a12bb | [
"Apache-2.0"
] | null | null | null | <mujoco model="humanoid">
<compiler angle="degree" inertiafromgeom="true" />
<default>
<joint armature="1" damping="1" limited="true" />
<geom conaffinity="1" condim="3" friction="0.8 0.1 0.1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1" />
<motor ctrllimited="true" ctrlrange="-.4 .4" />
</default>
<option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
</option>
<size nkey="5" nuser_geom="1" />
<visual>
<map fogend="5" fogstart="3" />
</visual>
<worldbody>
<body name="torso" pos="0.0 0.0 1.1047463552259764">
<geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.07" type="capsule" />
<geom name="head" pos="0 0 .19" size=".09" type="sphere" user="258" />
<geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="uwaist" size="0.06" type="capsule" />
<body name="lwaist" pos="-.01 0 -0.260" quat="1.000 0 -0.002 0">
<geom fromto="0 -.06 0 0 .06 0" name="lwaist" size="0.06" type="capsule" />
<joint armature="0.02" axis="0 0 1" damping="5" name="abdomen_z" pos="0 0 0.065" range="-45 45" stiffness="20" type="hinge" />
<joint armature="0.02" axis="0 1 0" damping="5" name="abdomen_y" pos="0 0 0.065" range="-75 30" stiffness="10" type="hinge" />
<body name="pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0">
<joint armature="0.02" axis="1 0 0" damping="5" name="abdomen_x" pos="0 0 0.1" range="-35 35" stiffness="10" type="hinge" />
<geom fromto="-0.02 -0.07859744751512462 0.0 -0.02 0.07859744751512462 0.0" name="butt" size="0.09" type="capsule" />
<body name="right_thigh" pos="0.0 -0.11228206787874946 -0.04">
<joint armature="0.01" axis="1 0 0" damping="5" name="right_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge" />
<joint armature="0.01" axis="0 0 1" damping="5" name="right_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge" />
<joint armature="0.01" axis="0 1 0" damping="5" name="right_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge" />
<geom fromto="0.0 0.0 0.0 0.0 0.008374201477264266 -0.284722850226985" name="right_thigh1" size="0.06" type="capsule" />
<body name="right_shin" pos="0.0 0.008374201477264266 -0.3374803195337499">
<joint armature="0.0060" axis="0 -1 0" name="right_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge" />
<geom fromto="0.0 0.0 0.0 0.0 0.0 -0.28017735712815106" name="right_shin1" size="0.049" type="capsule" />
<body name="right_foot" pos="0.0 0.0 -0.42026603569222665">
<geom name="right_foot" pos="0 0 0.1" size="0.075" type="sphere" user="0" />
</body>
</body>
</body>
<body name="left_thigh" pos="0.0 0.11228206787874946 -0.04">
<joint armature="0.01" axis="-1 0 0" damping="5" name="left_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge" />
<joint armature="0.01" axis="0 0 -1" damping="5" name="left_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge" />
<joint armature="0.01" axis="0 1 0" damping="5" name="left_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge" />
<geom fromto="0.0 0.0 0.0 0.0 -0.008374201477264266 -0.284722850226985" name="left_thigh1" size="0.06" type="capsule" />
<body name="left_shin" pos="0.0 -0.008374201477264266 -0.3374803195337499">
<joint armature="0.0060" axis="0 -1 0" name="left_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge" />
<geom fromto="0.0 0.0 0.0 0.0 0.0 -0.28017735712815106" name="left_shin1" size="0.049" type="capsule" />
<body name="left_foot" pos="0.0 0.0 -0.42026603569222665">
<geom name="left_foot" type="sphere" size="0.075" pos="0 0 0.1" user="0" />
</body>
</body>
</body>
</body>
</body>
<body name="right_upper_arm" pos="0 -0.17 0.06">
<joint armature="0.0068" axis="2 1 1" name="right_shoulder1" pos="0 0 0" range="-85 60" stiffness="1" type="hinge" />
<joint armature="0.0051" axis="0 -1 1" name="right_shoulder2" pos="0 0 0" range="-85 60" stiffness="1" type="hinge" />
<geom fromto="0 0 0 .16 -.16 -.16" name="right_uarm1" size="0.04 0.16" type="capsule" />
<body name="right_lower_arm" pos=".18 -.18 -.18">
<joint armature="0.0028" axis="0 -1 1" name="right_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge" />
<geom fromto="0.01 0.01 0.01 .17 .17 .17" name="right_larm" size="0.031" type="capsule" />
<geom name="right_hand" pos=".18 .18 .18" size="0.04" type="sphere" />
</body>
</body>
<body name="left_upper_arm" pos="0 0.17 0.06">
<joint armature="0.0068" axis="2 -1 1" name="left_shoulder1" pos="0 0 0" range="-60 85" stiffness="1" type="hinge" />
<joint armature="0.0051" axis="0 1 1" name="left_shoulder2" pos="0 0 0" range="-60 85" stiffness="1" type="hinge" />
<geom fromto="0 0 0 .16 .16 -.16" name="left_uarm1" size="0.04 0.16" type="capsule" />
<body name="left_lower_arm" pos=".18 .18 -.18">
<joint armature="0.0028" axis="0 -1 -1" name="left_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge" />
<geom fromto="0.01 -0.01 0.01 .17 -.17 .17" name="left_larm" size="0.031" type="capsule" />
<geom name="left_hand" pos=".18 -.18 .18" size="0.04" type="sphere" />
</body>
</body>
</body>
</worldbody>
<tendon>
<fixed name="left_hipknee">
<joint coef="-1" joint="left_hip_y" />
<joint coef="1" joint="left_knee" />
</fixed>
<fixed name="right_hipknee">
<joint coef="-1" joint="right_hip_y" />
<joint coef="1" joint="right_knee" />
</fixed>
</tendon>
<actuator>
<motor gear="100" joint="abdomen_y" name="abdomen_y" />
<motor gear="100" joint="abdomen_z" name="abdomen_z" />
<motor gear="100" joint="abdomen_x" name="abdomen_x" />
<motor gear="100" joint="right_hip_x" name="right_hip_x" />
<motor gear="100" joint="right_hip_z" name="right_hip_z" />
<motor gear="300" joint="right_hip_y" name="right_hip_y" />
<motor gear="200" joint="right_knee" name="right_knee" />
<motor gear="100" joint="left_hip_x" name="left_hip_x" />
<motor gear="100" joint="left_hip_z" name="left_hip_z" />
<motor gear="300" joint="left_hip_y" name="left_hip_y" />
<motor gear="200" joint="left_knee" name="left_knee" />
<motor gear="25" joint="right_shoulder1" name="right_shoulder1" />
<motor gear="25" joint="right_shoulder2" name="right_shoulder2" />
<motor gear="25" joint="right_elbow" name="right_elbow" />
<motor gear="25" joint="left_shoulder1" name="left_shoulder1" />
<motor gear="25" joint="left_shoulder2" name="left_shoulder2" />
<motor gear="25" joint="left_elbow" name="left_elbow" />
</actuator>
</mujoco> | 72.738318 | 149 | 0.533856 |
b5782501b00728fd83fccbb1cfd912398cfc7344 | 10,423 | xml | XML | gym/gym/envs/mujoco/assets/jaco_pick.xml | youngwoon/DnC-RL-Tensorflow | 02dc2750fe301a01e3bd68b1e56fc7fd754c2f3f | [
"MIT"
] | 9 | 2019-02-01T22:45:57.000Z | 2022-01-08T16:13:24.000Z | gym/gym/envs/mujoco/assets/jaco_pick.xml | youngwoon/DnC-RL-Tensorflow | 02dc2750fe301a01e3bd68b1e56fc7fd754c2f3f | [
"MIT"
] | null | null | null | gym/gym/envs/mujoco/assets/jaco_pick.xml | youngwoon/DnC-RL-Tensorflow | 02dc2750fe301a01e3bd68b1e56fc7fd754c2f3f | [
"MIT"
] | 1 | 2020-04-07T20:09:48.000Z | 2020-04-07T20:09:48.000Z | <!-- ======================================================
This file is part of MuJoCo.
Copyright 2009-2016 Roboti LLC.
Model :: Jaco Arm from Kinova Robotics
Source : www.github.com/Kinovarobotics
Downloaded : July 25, 2015
Mujoco :: Advanced physics simulation engine
Source : www.roboti.us
Version : 1.31
Released : 23Apr16
Author :: Vikash Kumar
Contacts : [email protected]
Last edits : 30Apr16, 30Nov15, 26Sept'15, 26July'15
====================================================== -->
<mujoco model="jaco(v1.31)">
<compiler angle="radian" meshdir="jaco/meshes/" inertiafromgeom="true"/>
<option impratio="2"/>
<asset>
<mesh file="jaco_link_base.stl"/>
<mesh file="jaco_link_1.stl"/>
<mesh file="jaco_link_2.stl"/>
<mesh file="jaco_link_3.stl"/>
<mesh file="jaco_link_4.stl"/>
<mesh file="jaco_link_5.stl"/>
<mesh file="jaco_link_hand.stl"/>
<mesh file="jaco_link_finger_1.stl"/>
<mesh file="jaco_link_finger_2.stl"/>
<mesh file="jaco_link_finger_3.stl"/>
<texture type="skybox" builtin="gradient" rgb1=".2 .3 .4" rgb2="0 0 0"
width="100" height="100"/>
<texture name="groundplane" type="2d" builtin="checker" rgb1=".25 .26 .25"
rgb2=".22 .22 .22" width="100" height="100" mark="none" markrgb=".8 .8 .8"/>
<material name="MatViz" specular="1" shininess=".1" reflectance="0.5" rgba=".07 .07 .1 1"/>
<material name="MatGnd" texture="groundplane" texrepeat="5 5" specular="1" shininess=".3" reflectance="0.00001"/>
</asset>
<default>
<geom margin="0.001" contype="1" conaffinity="1"/>
<joint limited="false" damping="0.2" armature=".01"/>
<!--geom class for visual and collision geometry-->
<default class ="vizNcoll">
<geom material="MatViz" type="mesh" group="0" contype="1" conaffinity="0"/>
<joint pos="0 0 0" type="hinge"/>
</default>
<default class ="ground">
<geom material="MatGnd" type="plane" contype="0" conaffinity="1"/>
</default>
</default>
<worldbody>
<light directional="true" cutoff="60" exponent="1" diffuse="1 1 1" specular=".1 .1 .1" pos="1 1 1.5" dir="-1 -1 -1.3"/>
<geom name="ground" class="ground" pos="0 0 0" size="2 2 1"/>
<body name="jaco_link_base" childclass="vizNcoll" pos="0 0 0.25">
<inertial pos="-3.14012e-008 0.000451919 0.0770704" quat="1 -0.000920048 6.51183e-006 5.62643e-005" mass="0.787504" diaginertia="0.00187445 0.00186316 0.000676952" />
<geom mesh="jaco_link_base" name="jaco_link_base"/>
<geom type="capsule" pos="0 0 -0.125" size=".045 0.125"/>
<body name="jaco_link_1" childclass="vizNcoll" pos="0 0 0.1535" quat="0 0 1 0">
<inertial pos="-1.14317e-006 0.0102141 -0.0637045" quat="0.702792 0.0778988 -0.0778994 0.702813" mass="0.613151" diaginertia="0.00149348 0.00144012 0.000401632" />
<joint name="jaco_joint_1" axis="0 0 -1" />
<geom mesh="jaco_link_1" name="jaco_link_1"/>
<body name="jaco_link_2" pos="0 0 -0.1185" quat="0 0 0.707107 0.707107">
<inertial pos="0.206657 -1.55187e-007 -0.030675" quat="8.97411e-006 0.707331 5.06696e-006 0.706883" mass="1.85031" diaginertia="0.0402753 0.0398125 0.00121953" />
<joint name="jaco_joint_2" axis="0 0 1" />
<geom mesh="jaco_link_2" name="jaco_link_2"/>
<body name="jaco_link_3" pos="0.41 0 0" quat="0 0.707107 0.707107 0">
<inertial pos="0.0847979 -1.18469e-007 -0.020283" quat="2.33799e-005 0.694869 1.96996e-005 0.719136" mass="0.70372" diaginertia="0.00386732 0.00373181 0.000358773" />
<joint name="jaco_joint_3" axis="0 0 -1" />
<geom mesh="jaco_link_3" name="jaco_link_3"/>
<body name="jaco_link_4" pos="0.207 0 -0.01125" quat="0 0.707107 0 -0.707107">
<inertial pos="0.00914824 4.53141e-008 -0.0370941" quat="0.971237 -1.92989e-005 -0.238115 3.23646e-005" mass="0.227408" diaginertia="0.000176463 0.00017225 0.000108303" />
<joint name="jaco_joint_4" axis="0 0 -1" />
<geom mesh="jaco_link_4" name="jaco_link_4"/>
<body name="jaco_link_5" pos="0.0343 0 -0.06588" quat="0.887011 0 -0.461749 0">
<inertial pos="0.00914824 4.53141e-008 -0.0370941" quat="0.971237 -1.92989e-005 -0.238115 3.23646e-005" mass="0.227408" diaginertia="0.000176463 0.00017225 0.000108303" />
<joint name="jaco_joint_5" axis="0 0 -1" />
<geom mesh="jaco_link_5" name="jaco_link_5"/>
<body name="jaco_link_hand" pos="0.0343 0 -0.06588" quat="0.627211 -0.326506 -0.326506 0.627211">
<inertial pos="0.0036132 -6.2241e-005 -0.0583749" quat="0.669114 -0.237618 -0.23799 0.66271" mass="0.58074" diaginertia="0.000817146 0.000671192 0.000606807" />
<joint name="jaco_joint_6" axis="0 0 -1" />
<geom mesh="jaco_link_hand" name="jaco_link_hand" rgba=".13 .13 .13 1"/>
<body name="jaco_link_finger_1" pos="-0.03978 0 -0.10071" quat="-0.414818 -0.329751 -0.663854 0.52772">
<inertial pos="0.0485761 -0.000715511 2.09499e-008" quat="0.507589 0.507348 0.492543 0.492294" mass="0.0379077" diaginertia="4.00709e-005 4.00528e-005 2.156e-006" />
<joint name="jaco_joint_finger_1" limited="true" axis="0 0 1" range="0 0.698132"/>
<geom mesh="jaco_link_finger_1" name="jaco_link_finger_1" contype="1" conaffinity="1"/>
</body>
<body name="jaco_link_finger_2" pos="0.03569 -0.0216 -0.10071" quat="0.625248 -0.567602 0.434845 0.312735">
<inertial pos="0.0485761 -0.000715511 2.09499e-008" quat="0.507589 0.507348 0.492543 0.492294" mass="0.0379077" diaginertia="4.00709e-005 4.00528e-005 2.156e-006" />
<joint name="jaco_joint_finger_2" limited="true" axis="0 0 1" range="0 0.698132"/>
<geom mesh="jaco_link_finger_2" name="jaco_link_finger_2" contype="1" conaffinity="1"/>
</body>
<body name="jaco_link_finger_3" pos="0.03569 0.0216 -0.10071" quat="0.561254 -0.620653 0.321748 0.443014">
<inertial pos="0.0485761 -0.000715511 2.09499e-008" quat="0.507589 0.507348 0.492543 0.492294" mass="0.0379077" diaginertia="4.00709e-005 4.00528e-005 2.156e-006" />
<joint name="jaco_joint_finger_3" limited="true" axis="0 0 1" range="0 0.698132"/>
<geom mesh="jaco_link_finger_3" name="jaco_link_finger_3" contype="1" conaffinity="1"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!-- box -->
<body name="box" pos="0.55 0.25 .04" euler="0 0 0">
<geom name="box" pos="0 0 0" contype="1" conaffinity="1" rgba="0.1 0.3 0.7 1" size=".04 .04 .04" type="box"/>
<joint type="free"/>
</body>
<!-- context boundary -->
<body name="boundary" pos="0.5 0.1 0.0" euler="0 0 0">
<geom name="boundary0" pos="0 0 0" rgba="0.9 0.9 0.9 0.5" size="0.005 0.15 0.005" type="box"/>
<geom name="boundary1" pos="0 0 0" rgba="0.9 0.9 0.9 0.5" size="0.15 0.005 0.005" type="box"/>
<geom name="right" pos="0.15 0 0" rgba="0.9 0.9 0.9 0.5" size="0.005 0.15 0.005" type="box"/>
<geom name="left" pos="-0.15 0 0" rgba="0.9 0.9 0.9 0.5" size="0.005 0.15 0.005" type="box"/>
<geom name="up" pos="0 0.15 0" rgba="0.9 0.9 0.9 0.5" size="0.15 0.005 0.005" type="box"/>
<geom name="down" pos="0 -0.15 0" rgba="0.9 0.9 0.9 0.5" size="0.15 0.005 0.005" type="box"/>
</body>
<!--
<body name="box" pos="0.55 0.25 .01" euler="0 0 0">
<inertial pos="0 0 0" mass="0.1"/>
<geom name="box" pos="0 0 0" contype="1" conaffinity="1" rgba="0.1 0.3 0.7 1" size=".01 .01 .01" type="box"/>
<joint type="free" armature="0" damping="0" limited="false" stiffness="0"/>
</body>
-->
</worldbody>
<actuator>
<!-- ================= Torque actuators (Weren't present in the URDF. Added seperately)================= /-->
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint='jaco_joint_1' name='Ajaco_joint_1' gear="50"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint='jaco_joint_2' name='Ajaco_joint_2' gear="100"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint='jaco_joint_3' name='Ajaco_joint_3' gear="100"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint='jaco_joint_4' name='Ajaco_joint_4' gear="50"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint='jaco_joint_5' name='Ajaco_joint_5' gear="50"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint='jaco_joint_6' name='Ajaco_joint_6' gear="50"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint='jaco_joint_finger_1' name='Ajaco_joint_finger_1' gear='10'/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint='jaco_joint_finger_2' name='Ajaco_joint_finger_2' gear='10'/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint='jaco_joint_finger_3' name='Ajaco_joint_finger_3' gear='10'/>
</actuator>
</mujoco>
| 60.953216 | 206 | 0.528735 |
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<joint name="//unnamed_joint_3" class="/" type="free"/>
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<body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998">
<geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/>
<joint name="//unnamed_joint_4" class="/" type="free"/>
</body> -->
<!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/>
<joint name="//unnamed_joint_5" class="/" type="free"/>
</body>-->
<!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998">
<geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/>
<joint name="//unnamed_joint_6" class="/" type="free"/>
</body>-->
<!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325">
<geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/>
<joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/>
</body>
<body name="target_obj" pos="0 0.0 0.325">
<geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/>
</body>-->
<!--<body name="gen_body_0" pos="0 0.0 0.3549998" euler="0 0 0.5">
<geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_0" class="/" type="free"/>
</body>
<body name="box_0" pos="0.175 0.0 0.3725">
<geom name="box_geom_0" class="/" type="box" group="1" size="0.055 0.055 0.065" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="target_obj" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_15" class="geom0" type="box" contype="0" conaffinity="0" group="1" size="0.055 0.055 0.055" rgba="0 0 0 0.1666"/>
</body>-->
<!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!-- <body name="virt_box_2" pos="0 .45 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/>
</body>
<body name="virt_box_3" pos="0 0.57243499223068691 0.3549998">
<geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/>
</body> -->
<body euler="0 0 5.15359914747734" name="gen_body_0" pos="0 0 0.30018699999782256"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.3776094818068434 0.24803836282908487 0.29897889696754043 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 1.8789666655089163" name="gen_body_gadded_1" pos="0.0929277945255883 0.0 0.3016703007736172"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.20448424033849677 0.5582413214451242 0.4913225041406539 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 4.4756001844568365" name="gen_body_gadded_2" pos="0.3283257564279966 -0.12604431104726063 0.3000158990870434"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.20208431299615237 0.294417372500164 0.4710724026436133 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body></worldbody>
<contact>
<!--<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="box_geom_0" geom2="table_plane"/>-->
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/>
<!--<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>-->
<!--<pair geom1="//unnamed_geom_8" geom2="tabletop" friction="1 1 0.005 0.0001 0.0001" />-->
<!-- <pair geom1="//unnamed_geom_9" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> -->
</contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="10000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="10000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="10000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="10000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
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The state space is populated with joints in the order that they are
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- bfoot hinge angular velocity (rad/s)
- fthigh hinge angular velocity (rad/s)
- fshin hinge angular velocity (rad/s)
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Actuators (name/actuator/parameter):
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- bfoot hinge torque (N m)
- fthigh hinge torque (N m)
- fshin hinge torque (N m)
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-->
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| 51.835443 | 127 | 0.554823 |
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<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> | 115.904971 | 941 | 0.685894 |
b5833d2effd1dbd9f29edfc89bef073d4624f9ea | 5,018 | xml | XML | body_mnist/workable-bodies/envs/187.xml | liusida/thesis-bodies | dceb8a36efd2cefc611f6749a52b56b9d3572f7a | [
"MIT"
] | null | null | null | body_mnist/workable-bodies/envs/187.xml | liusida/thesis-bodies | dceb8a36efd2cefc611f6749a52b56b9d3572f7a | [
"MIT"
] | null | null | null | body_mnist/workable-bodies/envs/187.xml | liusida/thesis-bodies | dceb8a36efd2cefc611f6749a52b56b9d3572f7a | [
"MIT"
] | 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 0.6485174092265559">
<geom name="torso_geom" pos="0 0 0" size="0.1897668146417138" 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 0.29214083978105815 0.29214083978105815 0.0" name="aux_1_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
<body name="aux_1" pos="0.29214083978105815 0.29214083978105815 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 0.29214083978105815 0.29214083978105815 0.0" name="left_leg_geom" size="0.1723796560313947" type="capsule" rgba=".8 .5 .3 1"/>
<body pos="0.29214083978105815 0.29214083978105815 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 0.44608144771488306 0.44608144771488306 0.0" name="left_ankle_geom" size="0.06674319853462819" 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 -0.29214083978105815 0.29214083978105815 0.0" name="aux_2_geom" size="0.08" type="capsule"/>
<body name="aux_2" pos="-0.29214083978105815 0.29214083978105815 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 -0.29214083978105815 0.29214083978105815 0.0" name="right_leg_geom" size="0.1723796560313947" type="capsule"/>
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geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" 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1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_4" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-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"/>
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<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"/>
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<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
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<position ctrllimited="true" ctrlrange="0 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"/>
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<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"/>
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</actuator>
</mujoco> | 152.384503 | 23,417 | 0.692827 |
b59171eefa218cd74ef3215bc6622f53f088216e | 2,301 | xml | XML | project/experiments/exp_800_mile_stone/input_data/bodies/119.xml | liusida/thesis-bodies | dceb8a36efd2cefc611f6749a52b56b9d3572f7a | [
"MIT"
] | null | null | null | project/experiments/exp_800_mile_stone/input_data/bodies/119.xml | liusida/thesis-bodies | dceb8a36efd2cefc611f6749a52b56b9d3572f7a | [
"MIT"
] | null | null | null | project/experiments/exp_800_mile_stone/input_data/bodies/119.xml | liusida/thesis-bodies | dceb8a36efd2cefc611f6749a52b56b9d3572f7a | [
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<!--
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<mujoco model="randomrobot">
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| 135.352941 | 1,606 | 0.552803 |
b59226f01db7490f32ced5f038a9d251bee206cb | 1,772 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/1566_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
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"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1566_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1566_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
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</mujoco> | 43.219512 | 200 | 0.671558 |
b59280a9e77dba06341830f28d0bd97dc7ab1aa9 | 76,294 | xml | XML | herb_reconf/cluttered_scenes/grasping_057_racquetball_2_0.7_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
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"MIT"
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"MIT"
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<body euler="0 0 4.185258975885356" name="gen_body_0" pos="0 0 0.3001909999991767"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.41772715967343443 0.0948705779546497 0.1445917429530128 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 0.46428369392884533" name="gen_body_gadded_1" pos="0.16476380199486573 0.0 0.304696886989345"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.12501571199277384 0.040079150159170185 0.4474521498970836 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 1.2212309945604098" name="gen_body_gadded_2" pos="-0.3175686127607985 -0.22242355092715263 0.2999294161363189"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.0016843161254276318 0.038075307789333435 0.7669519921604676 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body></worldbody>
<contact>
<!--<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="box_geom_0" geom2="table_plane"/>-->
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/>
<!--<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>-->
<!--<pair geom1="//unnamed_geom_8" geom2="tabletop" friction="1 1 0.005 0.0001 0.0001" />-->
<!-- <pair geom1="//unnamed_geom_9" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> -->
</contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="10000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="10000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="10000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="10000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>-->
</actuator>
</mujoco> | 119.770801 | 948 | 0.683225 |
b594dd3ccb3b475e25680f74e320754542e9e122 | 5,697 | xml | XML | Pyrado/pyrado/environments/mujoco/assets/openai_half_cheetah.xml | jacarvalho/SimuRLacra | a6c982862e2ab39a9f65d1c09aa59d9a8b7ac6c5 | [
"BSD-3-Clause"
] | null | null | null | Pyrado/pyrado/environments/mujoco/assets/openai_half_cheetah.xml | jacarvalho/SimuRLacra | a6c982862e2ab39a9f65d1c09aa59d9a8b7ac6c5 | [
"BSD-3-Clause"
] | null | null | null | Pyrado/pyrado/environments/mujoco/assets/openai_half_cheetah.xml | jacarvalho/SimuRLacra | a6c982862e2ab39a9f65d1c09aa59d9a8b7ac6c5 | [
"BSD-3-Clause"
] | 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="[total_mass]"/>
<size nstack="300000" nuser_geom="1"/>
<option gravity="0 0 -9.81" timestep="0.01"/>
<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="[tangential_friction_coeff] [torsional_friction_coeff] [rolling_friction_coeff]" 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>
<asset>
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</body>
</body>
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</actuator>
</mujoco> | 72.757009 | 149 | 0.533976 |
b598f3ce03a3261e89bedd10d2c21c25f9f0431f | 1,457 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/1931_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
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] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1931_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1931_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
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</mujoco> | 38.342105 | 155 | 0.61908 |
b59bcbb31df28a1274bd134ddb38c0847f9c6f2a | 1,387 | xml | XML | torussmall/assets.xml | vikashplus/object_sim | 87cd8dd5a11518b94fca16bc22bb04f6836c6aa7 | [
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] | 1 | 2022-03-13T21:24:49.000Z | 2022-03-13T21:24:49.000Z | torussmall/assets.xml | vikashplus/object_sim | 87cd8dd5a11518b94fca16bc22bb04f6836c6aa7 | [
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] | null | null | null | torussmall/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©-->
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<mesh name="contact3" file="../object_sim/torussmall/contact3.stl"/>
<mesh name="contact4" file="../object_sim/torussmall/contact4.stl"/>
</asset>
</mujocoinclude> | 81.588235 | 519 | 0.661139 |
b59c490013abd8eea39bd5393ce78eb8a80c5687 | 1,766 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3968_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3968_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3968_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
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</worldbody>
<actuator>
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</actuator>
</mujoco> | 43.073171 | 199 | 0.669309 |
b59db666b3e3d3684a789ae0aa3ace6a3b486228 | 1,771 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/6133_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6133_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6133_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
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<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.2">
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</actuator>
</mujoco> | 43.195122 | 200 | 0.670807 |
b59e3272fca80b42241d7d54e5219d28165aff15 | 1,458 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/669_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/669_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/669_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" />
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<worldbody>
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<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
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<include file="../robot.xml" />
<body name="table" pos="1.3 0.75 0.2">
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<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
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<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
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</body>
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</worldbody>
</mujoco> | 38.368421 | 155 | 0.619342 |
b59f9f2345be6383ae8b5d8fb58ddbb484d718af | 1,456 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7517_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7517_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7517_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>
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<worldbody>
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<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="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="0.03684431989802678 0.044705746366497046 0.21115979706456708">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.315789 | 155 | 0.618819 |
b5a132ceea2be961968108aff3ed56ac5b20f3aa | 5,623 | xml | XML | multiworld/envs/assets/classic_mujoco/ant_obstacles/ant_obstacle_position=3.0_height=0.0.xml | szk9876/multiworld | c90149d2913280298d5c54236ac40b793b0c2632 | [
"MIT"
] | null | null | null | multiworld/envs/assets/classic_mujoco/ant_obstacles/ant_obstacle_position=3.0_height=0.0.xml | szk9876/multiworld | c90149d2913280298d5c54236ac40b793b0c2632 | [
"MIT"
] | null | null | null | multiworld/envs/assets/classic_mujoco/ant_obstacles/ant_obstacle_position=3.0_height=0.0.xml | szk9876/multiworld | c90149d2913280298d5c54236ac40b793b0c2632 | [
"MIT"
] | null | null | null | <!-- Same a gym ant but with sites -->
<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"/>
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<site name="herb/wam/hand_attachment" class="herb/wam/"/>
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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> | 136.923077 | 10,958 | 0.686127 |
b5b2f463dfcb5c2f44cc40dc3267b5dc138270ea | 5,616 | xml | XML | mujoco/all_envs/halfcheetah/assets/half_cheetah_10.0.xml | EvieQ01/Learning-Feasibility-Different-Dynamics | 73786b11137b8ba9840d00ec4d258c1296b0a595 | [
"MIT"
] | null | null | null | mujoco/all_envs/halfcheetah/assets/half_cheetah_10.0.xml | EvieQ01/Learning-Feasibility-Different-Dynamics | 73786b11137b8ba9840d00ec4d258c1296b0a595 | [
"MIT"
] | null | null | null | mujoco/all_envs/halfcheetah/assets/half_cheetah_10.0.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="-5. 0 0 5. 0 0" name="torso" size="0.046" type="capsule"/>
<geom axisangle="0 1 0 .87" name="head" pos="6. 0 1." size="0.046 1.5" type="capsule"/>
<!-- <site name='tip' pos='.15 0 .11'/>-->
<body name="bthigh" pos="-5. 0 0">
<joint axis="0 1 0" damping="6" name="bthigh" pos="0 0 0" range="-.52 1.05" stiffness="240" type="hinge"/>
<geom axisangle="0 1 0 -3.8" name="bthigh" pos=".1 0 -.13" size="0.046 .145" type="capsule"/>
<body name="bshin" pos=".16 0 -.25">
<joint axis="0 1 0" damping="4.5" name="bshin" pos="0 0 0" range="-.785 .785" stiffness="180" type="hinge"/>
<geom axisangle="0 1 0 -2.03" name="bshin" pos="-.14 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .15" type="capsule"/>
<body name="bfoot" pos="-.28 0 -.14">
<joint axis="0 1 0" damping="3" name="bfoot" pos="0 0 0" range="-.4 .785" stiffness="120" type="hinge"/>
<geom axisangle="0 1 0 -.27" name="bfoot" pos=".03 0 -.097" rgba="0.9 0.6 0.6 1" size="0.046 .094" type="capsule"/>
</body>
</body>
</body>
<body name="fthigh" pos="5. 0 0">
<joint axis="0 1 0" damping="4.5" name="fthigh" pos="0 0 0" range="-1 .7" stiffness="180" type="hinge"/>
<geom axisangle="0 1 0 .52" name="fthigh" pos="-.07 0 -.12" size="0.046 .133" type="capsule"/>
<body name="fshin" pos="-.14 0 -.24">
<joint axis="0 1 0" damping="3" name="fshin" pos="0 0 0" range="-1.2 .87" stiffness="120" type="hinge"/>
<geom axisangle="0 1 0 -.6" name="fshin" pos=".065 0 -.09" rgba="0.9 0.6 0.6 1" size="0.046 .106" type="capsule"/>
<body name="ffoot" pos=".13 0 -.18">
<joint axis="0 1 0" damping="1.5" name="ffoot" pos="0 0 0" range="-.5 .5" stiffness="60" type="hinge"/>
<geom axisangle="0 1 0 -.6" name="ffoot" pos=".045 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .07" type="capsule"/>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor gear="120" joint="bthigh" name="bthigh"/>
<motor gear="90" joint="bshin" name="bshin"/>
<motor gear="60" joint="bfoot" name="bfoot"/>
<motor gear="120" joint="fthigh" name="fthigh"/>
<motor gear="60" joint="fshin" name="fshin"/>
<motor gear="30" joint="ffoot" name="ffoot"/>
</actuator>
</mujoco>
| 57.896907 | 163 | 0.556624 |
b5b414649de84b93dd0c7a5805a67d4eae0e8162 | 7,782 | xml | XML | metagym/metalocomotion/envs/assets/humanoids/humanoid_var_tra_187.xml | WorldEditors/RLSchool | a368937ab23c8d56f8b46d6c2de74d607d7a12bb | [
"Apache-2.0"
] | null | null | null | metagym/metalocomotion/envs/assets/humanoids/humanoid_var_tra_187.xml | WorldEditors/RLSchool | a368937ab23c8d56f8b46d6c2de74d607d7a12bb | [
"Apache-2.0"
] | null | null | null | metagym/metalocomotion/envs/assets/humanoids/humanoid_var_tra_187.xml | WorldEditors/RLSchool | a368937ab23c8d56f8b46d6c2de74d607d7a12bb | [
"Apache-2.0"
] | null | null | null | <mujoco model="humanoid">
<compiler angle="degree" inertiafromgeom="true" />
<default>
<joint armature="1" damping="1" limited="true" />
<geom conaffinity="1" condim="3" friction="0.8 0.1 0.1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1" />
<motor ctrllimited="true" ctrlrange="-.4 .4" />
</default>
<option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
</option>
<size nkey="5" nuser_geom="1" />
<visual>
<map fogend="5" fogstart="3" />
</visual>
<worldbody>
<body name="torso" pos="0.0 0.0 1.379507325715478">
<geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.07" type="capsule" />
<geom name="head" pos="0 0 .19" size=".09" type="sphere" user="258" />
<geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="uwaist" size="0.06" type="capsule" />
<body name="lwaist" pos="-.01 0 -0.260" quat="1.000 0 -0.002 0">
<geom fromto="0 -.06 0 0 .06 0" name="lwaist" size="0.06" type="capsule" />
<joint armature="0.02" axis="0 0 1" damping="5" name="abdomen_z" pos="0 0 0.065" range="-45 45" stiffness="20" type="hinge" />
<joint armature="0.02" axis="0 1 0" damping="5" name="abdomen_y" pos="0 0 0.065" range="-75 30" stiffness="10" type="hinge" />
<body name="pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0">
<joint armature="0.02" axis="1 0 0" damping="5" name="abdomen_x" pos="0 0 0.1" range="-35 35" stiffness="10" type="hinge" />
<geom fromto="-0.02 -0.08358910415328563 0.0 -0.02 0.08358910415328563 0.0" name="butt" size="0.09" type="capsule" />
<body name="right_thigh" pos="0.0 -0.11941300593326519 -0.04">
<joint armature="0.01" axis="1 0 0" damping="5" name="right_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge" />
<joint armature="0.01" axis="0 0 1" damping="5" name="right_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge" />
<joint armature="0.01" axis="0 1 0" damping="5" name="right_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge" />
<geom fromto="0.0 0.0 0.0 0.0 0.011111509635309774 -0.3777913276005323" name="right_thigh1" size="0.06" type="capsule" />
<body name="right_shin" pos="0.0 0.011111509635309774 -0.44779383830298386">
<joint armature="0.0060" axis="0 -1 0" name="right_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge" />
<geom fromto="0.0 0.0 0.0 0.0 0.0 -0.3898089916083294" name="right_shin1" size="0.049" type="capsule" />
<body name="right_foot" pos="0.0 0.0 -0.5847134874124941">
<geom name="right_foot" pos="0 0 0.1" size="0.075" type="sphere" user="0" />
</body>
</body>
</body>
<body name="left_thigh" pos="0.0 0.11941300593326519 -0.04">
<joint armature="0.01" axis="-1 0 0" damping="5" name="left_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge" />
<joint armature="0.01" axis="0 0 -1" damping="5" name="left_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge" />
<joint armature="0.01" axis="0 1 0" damping="5" name="left_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge" />
<geom fromto="0.0 0.0 0.0 0.0 -0.011111509635309774 -0.3777913276005323" name="left_thigh1" size="0.06" type="capsule" />
<body name="left_shin" pos="0.0 -0.011111509635309774 -0.44779383830298386">
<joint armature="0.0060" axis="0 -1 0" name="left_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge" />
<geom fromto="0.0 0.0 0.0 0.0 0.0 -0.3898089916083294" name="left_shin1" size="0.049" type="capsule" />
<body name="left_foot" pos="0.0 0.0 -0.5847134874124941">
<geom name="left_foot" type="sphere" size="0.075" pos="0 0 0.1" user="0" />
</body>
</body>
</body>
</body>
</body>
<body name="right_upper_arm" pos="0 -0.17 0.06">
<joint armature="0.0068" axis="2 1 1" name="right_shoulder1" pos="0 0 0" range="-85 60" stiffness="1" type="hinge" />
<joint armature="0.0051" axis="0 -1 1" name="right_shoulder2" pos="0 0 0" range="-85 60" stiffness="1" type="hinge" />
<geom fromto="0 0 0 .16 -.16 -.16" name="right_uarm1" size="0.04 0.16" type="capsule" />
<body name="right_lower_arm" pos=".18 -.18 -.18">
<joint armature="0.0028" axis="0 -1 1" name="right_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge" />
<geom fromto="0.01 0.01 0.01 .17 .17 .17" name="right_larm" size="0.031" type="capsule" />
<geom name="right_hand" pos=".18 .18 .18" size="0.04" type="sphere" />
</body>
</body>
<body name="left_upper_arm" pos="0 0.17 0.06">
<joint armature="0.0068" axis="2 -1 1" name="left_shoulder1" pos="0 0 0" range="-60 85" stiffness="1" type="hinge" />
<joint armature="0.0051" axis="0 1 1" name="left_shoulder2" pos="0 0 0" range="-60 85" stiffness="1" type="hinge" />
<geom fromto="0 0 0 .16 .16 -.16" name="left_uarm1" size="0.04 0.16" type="capsule" />
<body name="left_lower_arm" pos=".18 .18 -.18">
<joint armature="0.0028" axis="0 -1 -1" name="left_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge" />
<geom fromto="0.01 -0.01 0.01 .17 -.17 .17" name="left_larm" size="0.031" type="capsule" />
<geom name="left_hand" pos=".18 -.18 .18" size="0.04" type="sphere" />
</body>
</body>
</body>
</worldbody>
<tendon>
<fixed name="left_hipknee">
<joint coef="-1" joint="left_hip_y" />
<joint coef="1" joint="left_knee" />
</fixed>
<fixed name="right_hipknee">
<joint coef="-1" joint="right_hip_y" />
<joint coef="1" joint="right_knee" />
</fixed>
</tendon>
<actuator>
<motor gear="100" joint="abdomen_y" name="abdomen_y" />
<motor gear="100" joint="abdomen_z" name="abdomen_z" />
<motor gear="100" joint="abdomen_x" name="abdomen_x" />
<motor gear="100" joint="right_hip_x" name="right_hip_x" />
<motor gear="100" joint="right_hip_z" name="right_hip_z" />
<motor gear="300" joint="right_hip_y" name="right_hip_y" />
<motor gear="200" joint="right_knee" name="right_knee" />
<motor gear="100" joint="left_hip_x" name="left_hip_x" />
<motor gear="100" joint="left_hip_z" name="left_hip_z" />
<motor gear="300" joint="left_hip_y" name="left_hip_y" />
<motor gear="200" joint="left_knee" name="left_knee" />
<motor gear="25" joint="right_shoulder1" name="right_shoulder1" />
<motor gear="25" joint="right_shoulder2" name="right_shoulder2" />
<motor gear="25" joint="right_elbow" name="right_elbow" />
<motor gear="25" joint="left_shoulder1" name="left_shoulder1" />
<motor gear="25" joint="left_shoulder2" name="left_shoulder2" />
<motor gear="25" joint="left_elbow" name="left_elbow" />
</actuator>
</mujoco> | 72.728972 | 149 | 0.533796 |
b5b5405c62ec1ac3846b760f93602f681cad20ff | 7,783 | xml | XML | metagym/metalocomotion/envs/assets/humanoids/humanoid_var_ood_055.xml | WorldEditors/RLSchool | a368937ab23c8d56f8b46d6c2de74d607d7a12bb | [
"Apache-2.0"
] | null | null | null | metagym/metalocomotion/envs/assets/humanoids/humanoid_var_ood_055.xml | WorldEditors/RLSchool | a368937ab23c8d56f8b46d6c2de74d607d7a12bb | [
"Apache-2.0"
] | null | null | null | metagym/metalocomotion/envs/assets/humanoids/humanoid_var_ood_055.xml | WorldEditors/RLSchool | a368937ab23c8d56f8b46d6c2de74d607d7a12bb | [
"Apache-2.0"
] | null | null | null | <mujoco model="humanoid">
<compiler angle="degree" inertiafromgeom="true" />
<default>
<joint armature="1" damping="1" limited="true" />
<geom conaffinity="1" condim="3" friction="0.8 0.1 0.1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1" />
<motor ctrllimited="true" ctrlrange="-.4 .4" />
</default>
<option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
</option>
<size nkey="5" nuser_geom="1" />
<visual>
<map fogend="5" fogstart="3" />
</visual>
<worldbody>
<body name="torso" pos="0.0 0.0 1.1609515781409583">
<geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.07" type="capsule" />
<geom name="head" pos="0 0 .19" size=".09" type="sphere" user="258" />
<geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="uwaist" size="0.06" type="capsule" />
<body name="lwaist" pos="-.01 0 -0.260" quat="1.000 0 -0.002 0">
<geom fromto="0 -.06 0 0 .06 0" name="lwaist" size="0.06" type="capsule" />
<joint armature="0.02" axis="0 0 1" damping="5" name="abdomen_z" pos="0 0 0.065" range="-45 45" stiffness="20" type="hinge" />
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<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"/>
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] | null | null | null | <mujoco>
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</option>
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</mujoco> | 50.277778 | 220 | 0.65709 |
b5cc72aea2cc9964312bbcea456fea931de437d9 | 1,774 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/8329_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8329_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
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] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8329_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
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] | null | null | null | <mujoco>
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</worldbody>
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</actuator>
</mujoco> | 43.268293 | 199 | 0.671928 |
b5cceb543adda53bb43ef2229942cf09f503cd3c | 1,455 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/1361_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1361_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1361_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" />
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</body>
<include file="../robot.xml" />
<body name="table" pos="1.3 0.75 0.2">
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<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
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</body>
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</worldbody>
</mujoco> | 38.289474 | 155 | 0.618557 |
b5ceca207910abaa4b01986b7b411f471e4a6edb | 1,769 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/9507_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9507_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9507_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
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</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" />
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</mujoco> | 43.146341 | 199 | 0.670435 |
b5cef348b05204dc21f099a545817cac723387c9 | 173,641 | urdf | XML | husky_description/urdf/dual_arm_husky_mujoco.urdf | wangcongrobot/dual-ur5-husky-mujoco | b9d744123a8a2eed757646727946947bcbfacdb7 | [
"Apache-2.0"
] | 58 | 2019-12-16T02:35:37.000Z | 2022-03-24T06:52:15.000Z | husky_description/urdf/dual_arm_husky_mujoco.urdf | wangcongrobot/dual-ur5-husky-mujoco | b9d744123a8a2eed757646727946947bcbfacdb7 | [
"Apache-2.0"
] | null | null | null | husky_description/urdf/dual_arm_husky_mujoco.urdf | wangcongrobot/dual-ur5-husky-mujoco | b9d744123a8a2eed757646727946947bcbfacdb7 | [
"Apache-2.0"
] | 14 | 2020-04-16T08:21:38.000Z | 2022-01-11T15:30:12.000Z | <?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from dual_arm_husky_mujoco.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from dual_arm_husky.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from description.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!--
Software License Agreement (BSD)
\file description.urdf.xacro
\authors Paul Bovbel <[email protected]>, Devon Ash <[email protected]>
\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that
the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this list of conditions and the
following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
following disclaimer in the documentation and/or other materials provided with the distribution.
* Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-->
<robot name="husky" xmlns:xacro="http://www.ros.org/wiki/xacro">
<mujoco>
<compiler balanceinertia="true" discardvisual="false" fusestatic="true" meshdir="../meshes_mujoco/" strippath="true"/>
</mujoco>
<!-- Included URDF/XACRO Files -->
<!-- Inertia parameters -->
<!-- This mass might be incorrect -->
<!-- Kinematic model -->
<!-- Properties from urcontrol.conf -->
<!--
DH for UR5:
a = [0.00000, -0.42500, -0.39225, 0.00000, 0.00000, 0.0000]
d = [0.089159, 0.00000, 0.00000, 0.10915, 0.09465, 0.0823]
alpha = [ 1.570796327, 0, 0, 1.570796327, -1.570796327, 0 ]
q_home_offset = [0, -1.570796327, 0, -1.570796327, 0, 0]
joint_direction = [-1, -1, 1, 1, 1, 1]
mass = [3.7000, 8.3930, 2.2750, 1.2190, 1.2190, 0.1879]
center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0, 0.0265], [0, -0.0018, 0.01634], [0, 0.0018,0.01634], [0, 0, -0.001159] ]
-->
<!-- Arbitrary offsets for shoulder/elbow joints -->
<!-- measured from model -->
<!-- measured from model -->
<!-- link lengths used in model -->
<!--property name="shoulder_height" value="0.089159" /-->
<!--property name="shoulder_offset" value="0.13585" /-->
<!-- shoulder_offset - elbow_offset + wrist_1_length = 0.10915 -->
<!--property name="upper_arm_length" value="0.42500" /-->
<!--property name="elbow_offset" value="0.1197" /-->
<!-- CAD measured -->
<!--property name="forearm_length" value="0.39225" /-->
<!--property name="wrist_1_length" value="0.093" /-->
<!-- CAD measured -->
<!--property name="wrist_2_length" value="0.09465" /-->
<!-- In CAD this distance is 0.930, but in the spec it is 0.09465 -->
<!--property name="wrist_3_length" value="0.0823" /-->
<!-- manually measured -->
<!-- manually measured -->
<!-- manually measured -->
<!-- manually measured -->
<!-- manually measured -->
<!-- Base Size -->
<!-- Wheel Mounting Positions -->
<!-- Wheel Properties -->
<!-- Base link is the center of the robot's bottom plate -->
<link name="base_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://husky_description/meshes/base_link.stl"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.061875"/>
<geometry>
<box size="0.9874 0.5709 0.12375"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.185625"/>
<geometry>
<box size="0.78992 0.5709 0.12375"/>
</geometry>
</collision>
</link>
<!-- Base footprint is on the ground under the robot -->
<link name="base_footprint"/>
<joint name="base_footprint_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.14493"/>
<parent link="base_link"/>
<child link="base_footprint"/>
</joint>
<!-- Interial link stores the robot's inertial information -->
<link name="inertial_link">
<inertial>
<mass value="0.39054"/>
<origin xyz="-0.0648 -0.00059 0.07895"/>
<inertia ixx="0.001634275613800003" ixy="-0.0055452352110000006" ixz="-0.041083822026" iyy="0.05314689495400002" iyz="-0.0004366145530000001" izz="-0.004759585875"/>
</inertial>
</link>
<joint name="inertial_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="inertial_link"/>
</joint>
<!-- IMU Link is the standard mounting position for the UM6 IMU.-->
<!-- Can be modified with environment variables in /etc/ros/setup.bash -->
<link name="imu_link"/>
<joint name="imu_joint" type="fixed">
<!-- <origin xyz="$(optenv HUSKY_IMU_XYZ 0.19 0 0.149)" rpy="$(optenv HUSKY_IMU_RPY 0 -1.5708 3.1416)" /> -->
<origin rpy="-1.5708 0 0" xyz="0.19 0 0.149"/>
<parent link="base_link"/>
<child link="imu_link"/>
</joint>
<gazebo reference="imu_link">
</gazebo>
<!-- Husky wheel macros -->
<link name="front_left_wheel_link">
<inertial>
<mass value="2.637"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://husky_description/meshes/wheel.stl"/>
</geometry>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.1143" radius="0.17775"/>
</geometry>
</collision>
</link>
<gazebo reference="front_left_wheel_link">
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1.0"/>
<fdir1 value="1 0 0"/>
</gazebo>
<joint name="front_left_wheel" type="continuous">
<parent link="base_link"/>
<child link="front_left_wheel_link"/>
<origin rpy="0 0 0" xyz="0.256 0.2854 0.03282"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<transmission name="front_left_wheel_trans" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="front_left_wheel_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="front_left_wheel">
<hardwareInterface>VelocityJointInterface</hardwareInterface>
</joint>
</transmission>
<link name="front_right_wheel_link">
<inertial>
<mass value="2.637"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://husky_description/meshes/wheel.stl"/>
</geometry>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.1143" radius="0.17775"/>
</geometry>
</collision>
</link>
<gazebo reference="front_right_wheel_link">
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1.0"/>
<fdir1 value="1 0 0"/>
</gazebo>
<joint name="front_right_wheel" type="continuous">
<parent link="base_link"/>
<child link="front_right_wheel_link"/>
<origin rpy="0 0 0" xyz="0.256 -0.2854 0.03282"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<transmission name="front_right_wheel_trans" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="front_right_wheel_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="front_right_wheel">
<hardwareInterface>VelocityJointInterface</hardwareInterface>
</joint>
</transmission>
<link name="rear_left_wheel_link">
<inertial>
<mass value="2.637"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://husky_description/meshes/wheel.stl"/>
</geometry>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.1143" radius="0.17775"/>
</geometry>
</collision>
</link>
<gazebo reference="rear_left_wheel_link">
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1.0"/>
<fdir1 value="1 0 0"/>
</gazebo>
<joint name="rear_left_wheel" type="continuous">
<parent link="base_link"/>
<child link="rear_left_wheel_link"/>
<origin rpy="0 0 0" xyz="-0.256 0.2854 0.03282"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<transmission name="rear_left_wheel_trans" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="rear_left_wheel_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="rear_left_wheel">
<hardwareInterface>VelocityJointInterface</hardwareInterface>
</joint>
</transmission>
<link name="rear_right_wheel_link">
<inertial>
<mass value="2.637"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://husky_description/meshes/wheel.stl"/>
</geometry>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.1143" radius="0.17775"/>
</geometry>
</collision>
</link>
<gazebo reference="rear_right_wheel_link">
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1.0"/>
<fdir1 value="1 0 0"/>
</gazebo>
<joint name="rear_right_wheel" type="continuous">
<parent link="base_link"/>
<child link="rear_right_wheel_link"/>
<origin rpy="0 0 0" xyz="-0.256 -0.2854 0.03282"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<transmission name="rear_right_wheel_trans" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="rear_right_wheel_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="rear_right_wheel">
<hardwareInterface>VelocityJointInterface</hardwareInterface>
</joint>
</transmission>
<!-- Spawn Husky chassis -->
<link name="top_chassis_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://husky_description/meshes/top_chassis.stl"/>
</geometry>
</visual>
</link>
<!-- Attach chassis to the robot -->
<joint name="top_chassis_joint" type="fixed">
<parent link="base_link"/>
<child link="top_chassis_link"/>
</joint>
<!-- Spawn front bumper link -->
<link name="front_bumper_link">
<visual>
<geometry>
<mesh filename="package://husky_description/meshes/bumper.stl"/>
</geometry>
</visual>
</link>
<!-- Attach front bumper -->
<joint name="front_bumper" type="fixed">
<origin rpy="0 0 0" xyz="0.48 0 0.091"/>
<parent link="base_link"/>
<child link="front_bumper_link"/>
</joint>
<!-- Spawn rear bumper link -->
<link name="rear_bumper_link">
<visual>
<geometry>
<mesh filename="package://husky_description/meshes/bumper.stl"/>
</geometry>
</visual>
</link>
<!-- Attach rear bumper -->
<joint name="rear_bumper" type="fixed">
<origin rpy="0 0 3.14159" xyz="-0.48 0 0.091"/>
<parent link="base_link"/>
<child link="rear_bumper_link"/>
</joint>
<!-- Spawn the bulkhead -->
<link name="dual_arm_bulkhead_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://husky_description/meshes/dual_arm_bulkhead.stl"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://husky_description/meshes/dual_arm_bulkhead.stl"/>
</geometry>
</collision>
</link>
<!-- Attach bulkhead -->
<joint name="dual_arm_bulkhead_joint" type="fixed">
<parent link="base_link"/>
<child link="dual_arm_bulkhead_link"/>
<origin rpy="0 0 0" xyz="0 0 0.225"/>
</joint>
<link name="husky_ptu_pan_link">
<inertial>
<mass value="0.65"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<visual>
<material name="ptu_body_color">
<color rgba="0.3 0.3 0.3 1.0"/>
</material>
<origin rpy="3.14 0 0" xyz="-0.0295 0.011 0"/>
<geometry>
<mesh filename="package://flir_ptu_description/meshes/flir-ptu-simple.stl"/>
</geometry>
</visual>
<collision>
<geometry>
<box size="0.045 0.065 0.044"/>
</geometry>
<origin xyz="0 0.011 0"/>
</collision>
<collision>
<geometry>
<box size="0.046 0.044 0.044"/>
</geometry>
<origin xyz="-0.045 0.0215 0"/>
</collision>
<collision>
<geometry>
<cylinder length="0.015" radius="0.005"/>
</geometry>
<origin rpy="0 1.57 0" xyz="-0.074 0.021 0"/>
</collision>
</link>
<gazebo reference="husky_ptu_pan_link">
<material>Gazebo/DarkGrey</material>
</gazebo>
<link name="husky_ptu_tilt_link">
<inertial>
<mass value="0.65"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<visual>
<material name="ptu_body_color">
<color rgba="0.3 0.3 0.3 1.0"/>
</material>
<origin rpy="3.14 0 0" xyz="-0.0295 0.011 0"/>
<geometry>
<mesh filename="package://flir_ptu_description/meshes/flir-ptu-simple.stl"/>
</geometry>
</visual>
<collision>
<geometry>
<box size="0.045 0.065 0.044"/>
</geometry>
<origin xyz="0 0.011 0"/>
</collision>
<collision>
<geometry>
<box size="0.046 0.044 0.044"/>
</geometry>
<origin xyz="-0.045 0.0215 0"/>
</collision>
<collision>
<geometry>
<cylinder length="0.015" radius="0.005"/>
</geometry>
<origin rpy="0 1.57 0" xyz="-0.074 0.021 0"/>
</collision>
</link>
<gazebo reference="husky_ptu_tilt_link">
<material>Gazebo/DarkGrey</material>
</gazebo>
<link name="husky_ptu_base_link">
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
</link>
<link name="husky_ptu_tilted_link"/>
<link name="husky_ptu_mount_link">
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
</link>
<!-- There's an offset between the origin of the pan joint and the origin of
the overall device, which is between the mounting screws on its base. -->
<joint name="husky_ptu_base" type="fixed">
<parent link="husky_ptu_base_link"/>
<child link="husky_ptu_pan_link"/>
<origin xyz="0 -0.011 0.022"/>
</joint>
<!-- The pan joint -->
<joint name="husky_ptu_pan" type="revolute">
<parent link="husky_ptu_pan_link"/>
<origin rpy="-1.5708 0 0" xyz="0 0 0.066"/>
<child link="husky_ptu_tilt_link"/>
<axis rpy="3.14159 0 0" xyz="0 -1 0"/>
<limit effort="30" lower="-2.775" upper="2.775" velocity="1.0"/>
</joint>
<transmission name="husky_ptu_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="husky_ptu_pan">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="husky_ptu_pan_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- The tilt joint -->
<joint name="husky_ptu_tilt" type="revolute">
<parent link="husky_ptu_tilt_link"/>
<origin rpy="-1.5708 0 0" xyz="0 0 0"/>
<child link="husky_ptu_tilted_link"/>
<axis xyz="0 1 0"/>
<limit effort="30" lower="-0.82" upper="0.52" velocity="1.0"/>
</joint>
<transmission name="husky_ptu_tilt_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="husky_ptu_tilt">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="husky_ptu_tilt_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Fixed joint to provide a convenient attachment point for accessories. -->
<joint name="husky_ptu_mount" type="fixed">
<parent link="husky_ptu_tilted_link"/>
<child link="husky_ptu_mount_link"/>
<origin rpy="3.1416 0 0" xyz="0 0 -0.03912"/>
</joint>
<!-- Connect PTU to Husky bulkhead -->
<joint name="husky_ptu_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.345 0.010414 0.19876"/>
<!-- x-translation still needs to be measured -->
<parent link="dual_arm_bulkhead_link"/>
<child link="husky_ptu_base_link"/>
</joint>
<link name="l_ur5_arm_base_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/base.stl"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/base.stl"/>
</geometry>
</collision>
<inertial>
<mass value="4.0"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
</inertial>
</link>
<joint name="l_ur5_arm_shoulder_pan_joint" type="revolute">
<parent link="l_ur5_arm_base_link"/>
<child link="l_ur5_arm_shoulder_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.089159"/>
<axis xyz="0 0 1"/>
<limit effort="150.0" lower="-3.14159265" upper="3.14159265" velocity="3.15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="l_ur5_arm_shoulder_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/shoulder.stl"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/shoulder.stl"/>
</geometry>
</collision>
<inertial>
<mass value="3.7"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.010267495893" ixy="0.0" ixz="0.0" iyy="0.010267495893" iyz="0.0" izz="0.00666"/>
</inertial>
</link>
<joint name="l_ur5_arm_shoulder_lift_joint" type="revolute">
<parent link="l_ur5_arm_shoulder_link"/>
<child link="l_ur5_arm_upper_arm_link"/>
<origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.13585 0.0"/>
<axis xyz="0 1 0"/>
<limit effort="150.0" lower="-3.14159265" upper="3.14159265" velocity="3.15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="l_ur5_arm_upper_arm_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/upperarm.stl"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/upperarm.stl"/>
</geometry>
</collision>
<inertial>
<mass value="8.393"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.28"/>
<inertia ixx="0.22689067591" ixy="0.0" ixz="0.0" iyy="0.22689067591" iyz="0.0" izz="0.0151074"/>
</inertial>
</link>
<joint name="l_ur5_arm_elbow_joint" type="revolute">
<parent link="l_ur5_arm_upper_arm_link"/>
<child link="l_ur5_arm_forearm_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.1197 0.425"/>
<axis xyz="0 1 0"/>
<limit effort="150.0" lower="-3.14159265" upper="3.14159265" velocity="3.15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="l_ur5_arm_forearm_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/forearm.stl"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/forearm.stl"/>
</geometry>
</collision>
<inertial>
<mass value="2.275"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.25"/>
<inertia ixx="0.049443313556" ixy="0.0" ixz="0.0" iyy="0.049443313556" iyz="0.0" izz="0.004095"/>
</inertial>
</link>
<joint name="l_ur5_arm_wrist_1_joint" type="revolute">
<parent link="l_ur5_arm_forearm_link"/>
<child link="l_ur5_arm_wrist_1_link"/>
<origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.0 0.39225"/>
<axis xyz="0 1 0"/>
<limit effort="28.0" lower="-3.14159265" upper="3.14159265" velocity="3.2"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="l_ur5_arm_wrist_1_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/wrist1.stl"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/wrist1.stl"/>
</geometry>
</collision>
<inertial>
<mass value="1.219"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.111172755531" ixy="0.0" ixz="0.0" iyy="0.111172755531" iyz="0.0" izz="0.21942"/>
</inertial>
</link>
<joint name="l_ur5_arm_wrist_2_joint" type="revolute">
<parent link="l_ur5_arm_wrist_1_link"/>
<child link="l_ur5_arm_wrist_2_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.093 0.0"/>
<axis xyz="0 0 1"/>
<limit effort="28.0" lower="-3.14159265" upper="3.14159265" velocity="3.2"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="l_ur5_arm_wrist_2_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/wrist2.stl"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/wrist2.stl"/>
</geometry>
</collision>
<inertial>
<mass value="1.219"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.111172755531" ixy="0.0" ixz="0.0" iyy="0.111172755531" iyz="0.0" izz="0.21942"/>
</inertial>
</link>
<joint name="l_ur5_arm_wrist_3_joint" type="revolute">
<parent link="l_ur5_arm_wrist_2_link"/>
<child link="l_ur5_arm_wrist_3_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.09465"/>
<axis xyz="0 1 0"/>
<limit effort="28.0" lower="-3.14159265" upper="3.14159265" velocity="3.2"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="l_ur5_arm_wrist_3_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/wrist3.stl"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/wrist3.stl"/>
</geometry>
</collision>
<inertial>
<mass value="0.1879"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.0171364731454" ixy="0.0" ixz="0.0" iyy="0.0171364731454" iyz="0.0" izz="0.033822"/>
</inertial>
</link>
<joint name="l_ur5_arm_ee_fixed_joint" type="fixed">
<parent link="l_ur5_arm_wrist_3_link"/>
<child link="l_ur5_arm_ee_link"/>
<origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0823 0.0"/>
</joint>
<link name="l_ur5_arm_ee_link">
<collision>
<geometry>
<box size="0.01 0.01 0.01"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.01 0 0"/>
</collision>
</link>
<transmission name="l_ur5_arm_shoulder_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="l_ur5_arm_shoulder_pan_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="l_ur5_arm_shoulder_pan_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="l_ur5_arm_shoulder_lift_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="l_ur5_arm_shoulder_lift_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="l_ur5_arm_shoulder_lift_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="l_ur5_arm_elbow_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="l_ur5_arm_elbow_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="l_ur5_arm_elbow_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="l_ur5_arm_wrist_1_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="l_ur5_arm_wrist_1_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="l_ur5_arm_wrist_1_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="l_ur5_arm_wrist_2_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="l_ur5_arm_wrist_2_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="l_ur5_arm_wrist_2_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="l_ur5_arm_wrist_3_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="l_ur5_arm_wrist_3_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="l_ur5_arm_wrist_3_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- nothing to do here at the moment -->
<!-- ROS base_link to UR 'Base' Coordinates transform -->
<link name="l_ur5_arm_base"/>
<joint name="l_ur5_arm_base_link-base_fixed_joint" type="fixed">
<!-- NOTE: this rotation is only needed as long as base_link itself is
not corrected wrt the real robot (ie: rotated over 180
degrees)
-->
<origin rpy="0 0 -3.14159265" xyz="0 0 0"/>
<parent link="l_ur5_arm_base_link"/>
<child link="l_ur5_arm_base"/>
</joint>
<!-- Frame coincident with all-zeros TCP on UR controller -->
<link name="l_ur5_arm_tool0"/>
<joint name="l_ur5_arm_wrist_3_link-tool0_fixed_joint" type="fixed">
<origin rpy="-1.570796325 0 0" xyz="0 0.0823 0"/>
<parent link="l_ur5_arm_wrist_3_link"/>
<child link="l_ur5_arm_tool0"/>
</joint>
<link name="r_ur5_arm_base_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/base.stl"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/base.stl"/>
</geometry>
</collision>
<inertial>
<mass value="4.0"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
</inertial>
</link>
<joint name="r_ur5_arm_shoulder_pan_joint" type="revolute">
<parent link="r_ur5_arm_base_link"/>
<child link="r_ur5_arm_shoulder_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.089159"/>
<axis xyz="0 0 1"/>
<limit effort="150.0" lower="-3.14159265" upper="3.14159265" velocity="3.15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="r_ur5_arm_shoulder_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/shoulder.stl"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/shoulder.stl"/>
</geometry>
</collision>
<inertial>
<mass value="3.7"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.010267495893" ixy="0.0" ixz="0.0" iyy="0.010267495893" iyz="0.0" izz="0.00666"/>
</inertial>
</link>
<joint name="r_ur5_arm_shoulder_lift_joint" type="revolute">
<parent link="r_ur5_arm_shoulder_link"/>
<child link="r_ur5_arm_upper_arm_link"/>
<origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.13585 0.0"/>
<axis xyz="0 1 0"/>
<limit effort="150.0" lower="-3.14159265" upper="3.14159265" velocity="3.15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="r_ur5_arm_upper_arm_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/upperarm.stl"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/upperarm.stl"/>
</geometry>
</collision>
<inertial>
<mass value="8.393"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.28"/>
<inertia ixx="0.22689067591" ixy="0.0" ixz="0.0" iyy="0.22689067591" iyz="0.0" izz="0.0151074"/>
</inertial>
</link>
<joint name="r_ur5_arm_elbow_joint" type="revolute">
<parent link="r_ur5_arm_upper_arm_link"/>
<child link="r_ur5_arm_forearm_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.1197 0.425"/>
<axis xyz="0 1 0"/>
<limit effort="150.0" lower="-3.14159265" upper="3.14159265" velocity="3.15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="r_ur5_arm_forearm_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/forearm.stl"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/forearm.stl"/>
</geometry>
</collision>
<inertial>
<mass value="2.275"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.25"/>
<inertia ixx="0.049443313556" ixy="0.0" ixz="0.0" iyy="0.049443313556" iyz="0.0" izz="0.004095"/>
</inertial>
</link>
<joint name="r_ur5_arm_wrist_1_joint" type="revolute">
<parent link="r_ur5_arm_forearm_link"/>
<child link="r_ur5_arm_wrist_1_link"/>
<origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.0 0.39225"/>
<axis xyz="0 1 0"/>
<limit effort="28.0" lower="-3.14159265" upper="3.14159265" velocity="3.2"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="r_ur5_arm_wrist_1_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/wrist1.stl"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/wrist1.stl"/>
</geometry>
</collision>
<inertial>
<mass value="1.219"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.111172755531" ixy="0.0" ixz="0.0" iyy="0.111172755531" iyz="0.0" izz="0.21942"/>
</inertial>
</link>
<joint name="r_ur5_arm_wrist_2_joint" type="revolute">
<parent link="r_ur5_arm_wrist_1_link"/>
<child link="r_ur5_arm_wrist_2_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.093 0.0"/>
<axis xyz="0 0 1"/>
<limit effort="28.0" lower="-3.14159265" upper="3.14159265" velocity="3.2"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="r_ur5_arm_wrist_2_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/wrist2.stl"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/wrist2.stl"/>
</geometry>
</collision>
<inertial>
<mass value="1.219"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.111172755531" ixy="0.0" ixz="0.0" iyy="0.111172755531" iyz="0.0" izz="0.21942"/>
</inertial>
</link>
<joint name="r_ur5_arm_wrist_3_joint" type="revolute">
<parent link="r_ur5_arm_wrist_2_link"/>
<child link="r_ur5_arm_wrist_3_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.09465"/>
<axis xyz="0 1 0"/>
<limit effort="28.0" lower="-3.14159265" upper="3.14159265" velocity="3.2"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="r_ur5_arm_wrist_3_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/wrist3.stl"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/wrist3.stl"/>
</geometry>
</collision>
<inertial>
<mass value="0.1879"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.0171364731454" ixy="0.0" ixz="0.0" iyy="0.0171364731454" iyz="0.0" izz="0.033822"/>
</inertial>
</link>
<joint name="r_ur5_arm_ee_fixed_joint" type="fixed">
<parent link="r_ur5_arm_wrist_3_link"/>
<child link="r_ur5_arm_ee_link"/>
<origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0823 0.0"/>
</joint>
<link name="r_ur5_arm_ee_link">
<collision>
<geometry>
<box size="0.01 0.01 0.01"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.01 0 0"/>
</collision>
</link>
<transmission name="r_ur5_arm_shoulder_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="r_ur5_arm_shoulder_pan_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="r_ur5_arm_shoulder_pan_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="r_ur5_arm_shoulder_lift_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="r_ur5_arm_shoulder_lift_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="r_ur5_arm_shoulder_lift_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="r_ur5_arm_elbow_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="r_ur5_arm_elbow_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="r_ur5_arm_elbow_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="r_ur5_arm_wrist_1_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="r_ur5_arm_wrist_1_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="r_ur5_arm_wrist_1_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="r_ur5_arm_wrist_2_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="r_ur5_arm_wrist_2_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="r_ur5_arm_wrist_2_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="r_ur5_arm_wrist_3_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="r_ur5_arm_wrist_3_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="r_ur5_arm_wrist_3_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- nothing to do here at the moment -->
<!-- ROS base_link to UR 'Base' Coordinates transform -->
<link name="r_ur5_arm_base"/>
<joint name="r_ur5_arm_base_link-base_fixed_joint" type="fixed">
<!-- NOTE: this rotation is only needed as long as base_link itself is
not corrected wrt the real robot (ie: rotated over 180
degrees)
-->
<origin rpy="0 0 -3.14159265" xyz="0 0 0"/>
<parent link="r_ur5_arm_base_link"/>
<child link="r_ur5_arm_base"/>
</joint>
<!-- Frame coincident with all-zeros TCP on UR controller -->
<link name="r_ur5_arm_tool0"/>
<joint name="r_ur5_arm_wrist_3_link-tool0_fixed_joint" type="fixed">
<origin rpy="-1.570796325 0 0" xyz="0 0.0823 0"/>
<parent link="r_ur5_arm_wrist_3_link"/>
<child link="r_ur5_arm_tool0"/>
</joint>
<!-- Add laser specifically for this mode -->
<link name="base_laser">
<inertial>
<mass value="1.1"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.00307156543804" ixy="0.0" ixz="0.0" iyy="0.00312849041527" iyz="0.0" izz="0.00196432421427"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<!-- Origin of this mesh is the focal point of the LIDAR. -->
<mesh filename="package://lms1xx/meshes/sick-lms1xx.stl"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.05"/>
<geometry>
<box size="0.105 0.1 0.1"/>
</geometry>
</collision>
</link>
<gazebo reference="base_laser">
<turnGravityOff>true</turnGravityOff>
<sensor name="base_laser" type="ray">
<pose>0 0 0 0 0 0</pose>
<visualize>false</visualize>
<update_rate>50</update_rate>
<ray>
<scan>
<horizontal>
<samples>720</samples>
<resolution>1</resolution>
<min_angle>-3.14</min_angle>
<max_angle>3.14</max_angle>
</horizontal>
</scan>
<range>
<min>0.10</min>
<max>30.0</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.001</stddev>
</noise>
</ray>
<plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_laser">
<topicName>scan</topicName>
<frameName>base_laser</frameName>
</plugin>
</sensor>
</gazebo>
<!-- This offset is from the base of the bracket to the LIDAR's focal point. -->
<joint name="base_laser_joint" type="fixed">
<origin rpy="3.14159 0 0" xyz="0.465 0 -0.085"/>
<parent link="dual_arm_bulkhead_link"/>
<child link="base_laser"/>
</joint>
<!-- Add bumblebee camera -->
<link name="bumblebee2">
<visual>
<origin rpy="-1.5707 0 -1.5707" xyz="0 0 0"/>
<geometry>
<mesh filename="package://pointgrey_camera_description/meshes/pointgrey_bumblebee2.stl"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.04740 0.157 0.036"/>
</geometry>
</collision>
<inertial>
<mass value="0.342"/>
<inertia ixx="0.00010096866" ixy="0" ixz="0" iyy="0.00076652916" iyz="0" izz="0.0007394325"/>
</inertial>
</link>
<link name="bumblebee2_optical">
<inertial>
<mass value="1E-5"/>
<inertia ixx="1E-10" ixy="0" ixz="0" iyy="1E-10" iyz="0" izz="1E-10"/>
</inertial>
</link>
<joint name="bumblebee2_optical_joint" type="fixed">
<origin rpy="-1.570796 0 -1.570796" xyz="0 0 0"/>
<parent link="bumblebee2"/>
<child link="bumblebee2_optical"/>
</joint>
<gazebo reference="bumblebee2_optical">
<sensor name="stereo_camera" type="multicamera">
<update_rate>20</update_rate>
<camera name="left">
<pose>0 0 0 0 -1.5707 1.5707</pose>
<horizontal_fov>1.15191730632</horizontal_fov>
<image>
<width>1024</width>
<height>768</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.5</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<camera name="right">
<pose>0.12 0 0 0 -1.5707 1.5707</pose>
<horizontal_fov>1.15191730632</horizontal_fov>
<image>
<width>1024</width>
<height>768</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.5</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin filename="libgazebo_ros_multicamera.so" name="stereo_camera_controller">
<alwaysOn>true</alwaysOn>
<cameraName>bumblebee2</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>bumblebee2_optical</frameName>
<hackBaseline>0.12</hackBaseline>
<!-- NOTE: Distortion is currently unused -->
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
</plugin>
</sensor>
</gazebo>
<joint name="bumblebee2_mount_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.02224"/>
<parent link="husky_ptu_mount_link"/>
<child link="bumblebee2"/>
</joint>
<!-- Add force torque model FT300 -->
<!-- mount the fts to the robot -->
<joint name="l_robotiq_fts300_fts_fix" type="fixed">
<!--In most cases origin would be flange adapter plate: <origin xyz="0 0 0.009" rpy="0 0 0"/> /-->
<origin rpy="0 1.57 0" xyz="0 0 0"/>
<parent link="l_ur5_arm_ee_link"/>
<child link="l_robotiq_fts300_fts_robotside"/>
</joint>
<link name="l_robotiq_fts300_fts_robotside">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.01875"/>
<mass value="0.65"/>
<inertia ixx="0.000661171875" ixy="0" ixz="0" iyy="0.000661171875" iyz="0" izz="0.00117"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_force_torque_sensor/meshes/visual/robotiq_fts300.stl"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_force_torque_sensor/meshes/collision/robotiq_fts300.stl"/>
</geometry>
</collision>
</link>
<!-- virtual measurement frame -->
<joint name="l_robotiq_fts300_measurment_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.01625"/>
<parent link="l_robotiq_fts300_fts_robotside"/>
<child link="l_robotiq_fts300_robotiq_force_torque_frame_id"/>
</joint>
<link name="l_robotiq_fts300_robotiq_force_torque_frame_id"/>
<!-- toolside frame -->
<joint name="l_robotiq_fts300_toolside_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.0375"/>
<parent link="l_robotiq_fts300_fts_robotside"/>
<child link="l_robotiq_fts300_fts_toolside"/>
</joint>
<link name="l_robotiq_fts300_fts_toolside"/>
<!-- mount the fts to the robot -->
<joint name="r_robotiq_fts300_fts_fix" type="fixed">
<!--In most cases origin would be flange adapter plate: <origin xyz="0 0 0.009" rpy="0 0 0"/> /-->
<origin rpy="0 1.57 0" xyz="0 0 0"/>
<parent link="r_ur5_arm_ee_link"/>
<child link="r_robotiq_fts300_fts_robotside"/>
</joint>
<link name="r_robotiq_fts300_fts_robotside">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.01875"/>
<mass value="0.65"/>
<inertia ixx="0.000661171875" ixy="0" ixz="0" iyy="0.000661171875" iyz="0" izz="0.00117"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_force_torque_sensor/meshes/visual/robotiq_fts300.stl"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_force_torque_sensor/meshes/collision/robotiq_fts300.stl"/>
</geometry>
</collision>
</link>
<!-- virtual measurement frame -->
<joint name="r_robotiq_fts300_measurment_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.01625"/>
<parent link="r_robotiq_fts300_fts_robotside"/>
<child link="r_robotiq_fts300_robotiq_force_torque_frame_id"/>
</joint>
<link name="r_robotiq_fts300_robotiq_force_torque_frame_id"/>
<!-- toolside frame -->
<joint name="r_robotiq_fts300_toolside_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.0375"/>
<parent link="r_robotiq_fts300_fts_robotside"/>
<child link="r_robotiq_fts300_fts_toolside"/>
</joint>
<link name="r_robotiq_fts300_fts_toolside"/>
<!-- joint attaching parent link to robotiq hand -->
<joint name="l_robotiq_hand_joint" type="fixed">
<origin rpy="1.57 0 1.0" xyz="0 0 0.05398"/>
<parent link="l_robotiq_fts300_fts_toolside"/>
<child link="l_palm"/>
</joint>
<!-- Insert the fingers -->
<!-- Link list -->
<!-- Link 0 -->
<link name="l_finger_1_link_0">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_0.STL"/>
</geometry>
<material name="green">
<color rgba="0 1 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_0.STL"/>
</geometry>
<material name="yellow">
<color rgba="0 1 1 1"/>
</material>
</collision>
<inertial>
<mass value="0.1"/>
<origin xyz="-0.01 0 0"/>
<inertia ixx="0.000018" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<gazebo reference="l_finger_1_link_0">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link 1 -->
<link name="l_finger_1_link_1">
<visual>
<origin rpy="0 0 1.5708" xyz="0 0.05717 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_1.STL"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 1.5708" xyz="0 0.05717 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_1.STL"/>
</geometry>
<material name="yellow">
<color rgba="0 1 1 1"/>
</material>
</collision>
<inertial>
<origin rpy="0 0 1.5708" xyz="0.00053 0.03218 0"/>
<mass value="0.047"/>
<inertia ixx="0.00000499332" ixy="0.00000091312" ixz="-0.00000000120" iyy="0.00006434531" iyz="-0.00000000007" izz="0.00006061917"/>
</inertial>
</link>
<gazebo reference="l_finger_1_link_1">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link 2 -->
<link name="l_finger_1_link_2">
<visual>
<origin rpy="0 0 1.5708" xyz="0 0.03810 0.0075"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_2.STL"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 1.5708" xyz="0 0.03810 0.0075"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_2.STL"/>
</geometry>
<material name="yellow"/>
</collision>
<inertial>
<origin rpy="0 0 1.5708" xyz="0.00048 0.02167 0.00018"/>
<mass value="0.03284"/>
<inertia ixx="0.00000348008" ixy="0.00000031940" ixz="0.00000013041" iyy="0.00002248123" iyz="0.00000000291" izz="0.00001986346"/>
</inertial>
</link>
<gazebo reference="l_finger_1_link_2">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link 3 -->
<link name="l_finger_1_link_3">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_3.STL"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_3.STL"/>
</geometry>
<material name="yellow"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01626 0.00049 0.0002"/>
<mass value="0.03354"/>
<inertia ixx="0.00000305151" ixy="0.00000089792" ixz="0.00000000249" iyy="0.00001427978" iyz="-0.00000001191" izz="0.00001264126"/>
</inertial>
</link>
<gazebo reference="l_finger_1_link_3">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link proximal actuating hinge -->
<link name="l_finger_1_link_proximal_actuating_hinge">
<visual>
<origin rpy="0 0 0" xyz="0.01429 0 0"/>
<geometry>
<box size="0.02858 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01429 0 0"/>
<geometry>
<box size="0.02858 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0012 -0.00162 -0.00161"/>
<mass value="0.02647"/>
<inertia ixx="0.00000156447" ixy="0.000000236226" ixz="-0.00000014862" iyy="0.00000221068" iyz="-0.00000014369" izz="0.00000323175"/>
</inertial>
</link>
<gazebo reference="l_finger_1_link_proximal_actuating_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paraproximal actuating hinge -->
<link name="l_finger_1_link_paraproximal_actuating_hinge">
<visual>
<origin rpy="0 0 0" xyz="0.01143 0 0"/>
<geometry>
<box size="0.02286 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01143 0 0"/>
<geometry>
<box size="0.02286 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0064 0 0"/>
<!-- copied from proximal_actuating_hinge -->
<mass value="0.00362"/>
<inertia ixx="0.00000012043" ixy="0" ixz="0" iyy="0.00000053588" iyz="0" izz="0.00000065322"/>
</inertial>
</link>
<gazebo reference="l_finger_1_link_paraproximal_actuating_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link proximal actuating bar -->
<link name="l_finger_1_link_proximal_actuating_bar">
<visual>
<origin rpy="0 0 0" xyz="0.026789 0 0"/>
<geometry>
<box size="0.05398 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.026789 0 0"/>
<geometry>
<box size="0.05398 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.02699 -0.00122 0"/>
<mass value="0.00659"/>
<inertia ixx="0.00000008348" ixy="-0.0000002179" ixz="0.00000000134" iyy="0.00000719076" iyz="0" izz="0.00000718272"/>
</inertial>
</link>
<gazebo reference="l_finger_1_link_proximal_actuating_bar">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paraproximal bar -->
<link name="l_finger_1_link_paraproximal_bar">
<visual>
<origin rpy="0 0 0" xyz="0.02885 0 0"/>
<geometry>
<box size="0.05770 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.02885 0 0"/>
<geometry>
<box size="0.05770 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.02858 -0.00129 0"/>
<mass value="0.00732"/>
<inertia ixx="0.00000009065" ixy="-0.00000027047" ixz="0.00000000142" iyy="0.00000878034" iyz="0" izz="0.00000877558"/>
</inertial>
</link>
<gazebo reference="l_finger_1_link_paraproximal_bar">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link median actuating hinge -->
<link name="l_finger_1_link_median_actuating_hinge">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0092 0.00514 0"/>
<mass value="0.00359"/>
<inertia ixx="0.00000024735" ixy="0.00000023619" ixz="0" iyy="0.00000047681" iyz="0" izz="0.00000071813"/>
</inertial>
</link>
<gazebo reference="l_finger_1_link_median_actuating_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link median bar -->
<link name="l_finger_1_link_median_bar">
<visual>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01905 -0.00107 0"/>
<mass value="0.00538"/>
<inertia ixx="0.00000006639" ixy="-0.00000010996" ixz="0.00000000094" iyy="0.00000305318" iyz="0" izz="0.00000304657"/>
</inertial>
</link>
<gazebo reference="l_finger_1_link_median_bar">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paramedian hinge -->
<link name="l_finger_1_link_paramedian_hinge">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.01025 0.00046 0"/>
<mass value="0.00276"/>
<inertia ixx="0.00000004213" ixy="-0.00000001491" ixz="0" iyy="0.00000050258" iyz="0" izz="0.00000054007"/>
</inertial>
</link>
<gazebo reference="l_finger_1_link_paramedian_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link median bar underactuated -->
<link name="l_finger_1_link_median_bar_underactuated">
<visual>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01905 -0.00107 0"/>
<mass value="0.00538"/>
<inertia ixx="0.00000006639" ixy="-0.00000010996" ixz="-0.00000000094" iyy="0.00000305318" iyz="0" izz="0.00000304657"/>
</inertial>
</link>
<gazebo reference="l_finger_1_link_median_bar_underactuated">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paradistal hinge -->
<link name="l_finger_1_link_paradistal_hinge">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 0.02 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.00548 0 0"/>
<mass value="0.00158"/>
<inertia ixx="0.00000001907" ixy="0" ixz="0" iyy="0.00000010970" iyz="0" izz="0.00000012610"/>
</inertial>
</link>
<gazebo reference="l_finger_1_link_paradistal_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- End of link list -->
<!-- Joint list -->
<!-- Joint proximal actuating hinge -->
<joint name="l_finger_1_joint_proximal_actuating_hinge" type="revolute">
<parent link="l_finger_1_link_0"/>
<child link="l_finger_1_link_proximal_actuating_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 -2.0906" xyz="0 0 0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_1_joint_proximal_actuating_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paraproximal actuating hinge -->
<joint name="l_finger_1_joint_paraproximal_actuating_hinge" type="revolute">
<parent link="l_finger_1_link_0"/>
<child link="l_finger_1_link_paraproximal_actuating_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 -2.0906" xyz="0 0 -0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_1_joint_paraproximal_actuating_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint proximal actuating bar -->
<joint name="l_finger_1_joint_proximal_actuating_bar" type="revolute">
<parent link="l_finger_1_link_proximal_actuating_hinge"/>
<child link="l_finger_1_link_proximal_actuating_bar"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 1.8616" xyz="0.02858 0 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_1_joint_proximal_actuating_bar">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paraproximal bar -->
<joint name="l_finger_1_joint_paraproximal_bar" type="revolute">
<parent link="l_finger_1_link_paraproximal_actuating_hinge"/>
<child link="l_finger_1_link_paraproximal_bar"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 1.57" xyz="0.02286 0 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_1_joint_paraproximal_bar">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint median actuating hinge -->
<joint name="l_finger_1_joint_median_actuating_hinge" type="revolute">
<parent link="l_finger_1_link_1"/>
<child link="l_finger_1_link_median_actuating_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 -0.37" xyz="0 0.05715 0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_1_joint_median_actuating_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paramedian hinge -->
<joint name="l_finger_1_joint_paramedian_hinge" type="revolute">
<parent link="l_finger_1_link_1"/>
<child link="l_finger_1_link_paramedian_hinge"/>
<axis xyz="0 0 1"/>
<!-- -0.37 is hand picked, 0.9719 is hand calculated from atan(0.02381/0.01625) -->
<origin rpy="0 0 0" xyz="0 0.05715 -0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_1_joint_paramedian_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint median actuating hinge median bar -->
<joint name="l_finger_1_joint_median_actuating_hinge_median_bar" type="revolute">
<parent link="l_finger_1_link_median_actuating_hinge"/>
<child link="l_finger_1_link_median_bar"/>
<axis xyz="0 0 1"/>
<!-- hand calc 90 deg + atan(0.01516/0.01625) -->
<origin rpy="0 0 2.3215" xyz="0.01625 0.01516 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_1_joint_median_actuating_hinge_median_bar">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paradistal hinge -->
<joint name="l_finger_1_joint_paradistal_hinge" type="revolute">
<parent link="l_finger_1_link_2"/>
<child link="l_finger_1_link_paradistal_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 0" xyz="0 0.039 -0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_1_joint_paradistal_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paramedian hinge median bar underactuated -->
<joint name="l_finger_1_joint_paramedian_hinge_median_bar_underactuated" type="revolute">
<parent link="l_finger_1_link_paramedian_hinge"/>
<child link="l_finger_1_link_median_bar_underactuated"/>
<axis xyz="0 0 1"/>
<!-- hand calc 90 deg + atan(0.01227/0.00329) -->
<origin rpy="0 0 1.5708" xyz="0.01227 0.00329 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_1_joint_paramedian_hinge_median_bar_underactuated">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint 1 -->
<joint name="l_finger_1_joint_1" type="revolute">
<origin rpy="0 0 -2.0906" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
<parent link="l_finger_1_link_0"/>
<child link="l_finger_1_link_1"/>
<dynamics damping="1" friction="0"/>
<!-- Limits: [0deg.,70deg.] -->
<limit effort="60" lower="0" upper="1.2217" velocity="-1"/>
</joint>
<gazebo reference="l_finger_1_joint_1">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint 2 -->
<joint name="l_finger_1_joint_2" type="revolute">
<parent link="l_finger_1_link_1"/>
<child link="l_finger_1_link_2"/>
<dynamics damping="1" friction="0"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 0" xyz="0 0.05715 0"/>
<!-- Limits: [0deg.,90deg.] -->
<limit effort="60" lower="0" upper="1.5708" velocity="-1"/>
</joint>
<gazebo reference="l_finger_1_joint_2">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint 3 -->
<joint name="l_finger_1_joint_3" type="revolute">
<parent link="l_finger_1_link_2"/>
<child link="l_finger_1_link_3"/>
<dynamics damping="1" friction="0"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 2.0906" xyz="0 0.039 0"/>
<!-- Limits: [-38deg.,60deg.] -->
<limit effort="60" lower="-0.6632" upper="1.0471" velocity="-1"/>
</joint>
<gazebo reference="l_finger_1_joint_3">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- end of joint list -->
<!-- coupling joints in sdf -->
<gazebo>
<joint name="l_finger_1_link_proximal_actuating_bar_median_actuating_hinge_couple" type="revolute">
<parent>l_finger_1_link_median_actuating_hinge</parent>
<child>l_finger_1_link_proximal_actuating_bar</child>
<pose>0.05398 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="l_finger_1_link_proximal_actuating_bar_median_actuating_hinge_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="l_finger_1_link_median_bar_link_3_couple" type="revolute">
<parent>l_finger_1_link_3</parent>
<child>l_finger_1_link_median_bar</child>
<pose>0.0381 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="l_finger_1_link_median_bar_link_3_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="l_finger_1_link_paramedian_bar_paradistal_hinge_couple" type="revolute">
<parent>l_finger_1_link_paradistal_hinge</parent>
<child>l_finger_1_link_median_bar_underactuated</child>
<pose>0.0381 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="l_finger_1_link_median_bar_link_3_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="l_finger_1_link_paradistal_hinge_link_3_couple" type="revolute">
<parent>l_finger_1_link_paradistal_hinge</parent>
<child>l_finger_1_link_3</child>
<pose>0.0381 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="l_finger_1_link_paradistal_hinge_link_3_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="l_finger_1_link_paraproximal_bar_paramedian_hinge_couple" type="revolute">
<parent>l_finger_1_link_paramedian_hinge</parent>
<child>l_finger_1_link_paraproximal_bar</child>
<pose>0.05770 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="l_finger_1_link_paraproximal_bar_paramedian_hinge_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Link list -->
<!-- Link 0 -->
<link name="l_finger_2_link_0">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_0.STL"/>
</geometry>
<material name="green">
<color rgba="0 1 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_0.STL"/>
</geometry>
<material name="yellow">
<color rgba="0 1 1 1"/>
</material>
</collision>
<inertial>
<mass value="0.1"/>
<origin xyz="-0.01 0 0"/>
<inertia ixx="0.000018" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<gazebo reference="l_finger_2_link_0">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link 1 -->
<link name="l_finger_2_link_1">
<visual>
<origin rpy="0 0 1.5708" xyz="0 0.05717 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_1.STL"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 1.5708" xyz="0 0.05717 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_1.STL"/>
</geometry>
<material name="yellow">
<color rgba="0 1 1 1"/>
</material>
</collision>
<inertial>
<origin rpy="0 0 1.5708" xyz="0.00053 0.03218 0"/>
<mass value="0.047"/>
<inertia ixx="0.00000499332" ixy="0.00000091312" ixz="-0.00000000120" iyy="0.00006434531" iyz="-0.00000000007" izz="0.00006061917"/>
</inertial>
</link>
<gazebo reference="l_finger_2_link_1">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link 2 -->
<link name="l_finger_2_link_2">
<visual>
<origin rpy="0 0 1.5708" xyz="0 0.03810 0.0075"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_2.STL"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 1.5708" xyz="0 0.03810 0.0075"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_2.STL"/>
</geometry>
<material name="yellow"/>
</collision>
<inertial>
<origin rpy="0 0 1.5708" xyz="0.00048 0.02167 0.00018"/>
<mass value="0.03284"/>
<inertia ixx="0.00000348008" ixy="0.00000031940" ixz="0.00000013041" iyy="0.00002248123" iyz="0.00000000291" izz="0.00001986346"/>
</inertial>
</link>
<gazebo reference="l_finger_2_link_2">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link 3 -->
<link name="l_finger_2_link_3">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_3.STL"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_3.STL"/>
</geometry>
<material name="yellow"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01626 0.00049 0.0002"/>
<mass value="0.03354"/>
<inertia ixx="0.00000305151" ixy="0.00000089792" ixz="0.00000000249" iyy="0.00001427978" iyz="-0.00000001191" izz="0.00001264126"/>
</inertial>
</link>
<gazebo reference="l_finger_2_link_3">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link proximal actuating hinge -->
<link name="l_finger_2_link_proximal_actuating_hinge">
<visual>
<origin rpy="0 0 0" xyz="0.01429 0 0"/>
<geometry>
<box size="0.02858 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01429 0 0"/>
<geometry>
<box size="0.02858 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0012 -0.00162 -0.00161"/>
<mass value="0.02647"/>
<inertia ixx="0.00000156447" ixy="0.000000236226" ixz="-0.00000014862" iyy="0.00000221068" iyz="-0.00000014369" izz="0.00000323175"/>
</inertial>
</link>
<gazebo reference="l_finger_2_link_proximal_actuating_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paraproximal actuating hinge -->
<link name="l_finger_2_link_paraproximal_actuating_hinge">
<visual>
<origin rpy="0 0 0" xyz="0.01143 0 0"/>
<geometry>
<box size="0.02286 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01143 0 0"/>
<geometry>
<box size="0.02286 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0064 0 0"/>
<!-- copied from proximal_actuating_hinge -->
<mass value="0.00362"/>
<inertia ixx="0.00000012043" ixy="0" ixz="0" iyy="0.00000053588" iyz="0" izz="0.00000065322"/>
</inertial>
</link>
<gazebo reference="l_finger_2_link_paraproximal_actuating_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link proximal actuating bar -->
<link name="l_finger_2_link_proximal_actuating_bar">
<visual>
<origin rpy="0 0 0" xyz="0.026789 0 0"/>
<geometry>
<box size="0.05398 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.026789 0 0"/>
<geometry>
<box size="0.05398 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.02699 -0.00122 0"/>
<mass value="0.00659"/>
<inertia ixx="0.00000008348" ixy="-0.0000002179" ixz="0.00000000134" iyy="0.00000719076" iyz="0" izz="0.00000718272"/>
</inertial>
</link>
<gazebo reference="l_finger_2_link_proximal_actuating_bar">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paraproximal bar -->
<link name="l_finger_2_link_paraproximal_bar">
<visual>
<origin rpy="0 0 0" xyz="0.02885 0 0"/>
<geometry>
<box size="0.05770 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.02885 0 0"/>
<geometry>
<box size="0.05770 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.02858 -0.00129 0"/>
<mass value="0.00732"/>
<inertia ixx="0.00000009065" ixy="-0.00000027047" ixz="0.00000000142" iyy="0.00000878034" iyz="0" izz="0.00000877558"/>
</inertial>
</link>
<gazebo reference="l_finger_2_link_paraproximal_bar">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link median actuating hinge -->
<link name="l_finger_2_link_median_actuating_hinge">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0092 0.00514 0"/>
<mass value="0.00359"/>
<inertia ixx="0.00000024735" ixy="0.00000023619" ixz="0" iyy="0.00000047681" iyz="0" izz="0.00000071813"/>
</inertial>
</link>
<gazebo reference="l_finger_2_link_median_actuating_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link median bar -->
<link name="l_finger_2_link_median_bar">
<visual>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01905 -0.00107 0"/>
<mass value="0.00538"/>
<inertia ixx="0.00000006639" ixy="-0.00000010996" ixz="0.00000000094" iyy="0.00000305318" iyz="0" izz="0.00000304657"/>
</inertial>
</link>
<gazebo reference="l_finger_2_link_median_bar">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paramedian hinge -->
<link name="l_finger_2_link_paramedian_hinge">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.01025 0.00046 0"/>
<mass value="0.00276"/>
<inertia ixx="0.00000004213" ixy="-0.00000001491" ixz="0" iyy="0.00000050258" iyz="0" izz="0.00000054007"/>
</inertial>
</link>
<gazebo reference="l_finger_2_link_paramedian_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link median bar underactuated -->
<link name="l_finger_2_link_median_bar_underactuated">
<visual>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01905 -0.00107 0"/>
<mass value="0.00538"/>
<inertia ixx="0.00000006639" ixy="-0.00000010996" ixz="-0.00000000094" iyy="0.00000305318" iyz="0" izz="0.00000304657"/>
</inertial>
</link>
<gazebo reference="l_finger_2_link_median_bar_underactuated">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paradistal hinge -->
<link name="l_finger_2_link_paradistal_hinge">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 0.02 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.00548 0 0"/>
<mass value="0.00158"/>
<inertia ixx="0.00000001907" ixy="0" ixz="0" iyy="0.00000010970" iyz="0" izz="0.00000012610"/>
</inertial>
</link>
<gazebo reference="l_finger_2_link_paradistal_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- End of link list -->
<!-- Joint list -->
<!-- Joint proximal actuating hinge -->
<joint name="l_finger_2_joint_proximal_actuating_hinge" type="revolute">
<parent link="l_finger_2_link_0"/>
<child link="l_finger_2_link_proximal_actuating_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 -2.0906" xyz="0 0 0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_2_joint_proximal_actuating_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paraproximal actuating hinge -->
<joint name="l_finger_2_joint_paraproximal_actuating_hinge" type="revolute">
<parent link="l_finger_2_link_0"/>
<child link="l_finger_2_link_paraproximal_actuating_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 -2.0906" xyz="0 0 -0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_2_joint_paraproximal_actuating_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint proximal actuating bar -->
<joint name="l_finger_2_joint_proximal_actuating_bar" type="revolute">
<parent link="l_finger_2_link_proximal_actuating_hinge"/>
<child link="l_finger_2_link_proximal_actuating_bar"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 1.8616" xyz="0.02858 0 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_2_joint_proximal_actuating_bar">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paraproximal bar -->
<joint name="l_finger_2_joint_paraproximal_bar" type="revolute">
<parent link="l_finger_2_link_paraproximal_actuating_hinge"/>
<child link="l_finger_2_link_paraproximal_bar"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 1.57" xyz="0.02286 0 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_2_joint_paraproximal_bar">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint median actuating hinge -->
<joint name="l_finger_2_joint_median_actuating_hinge" type="revolute">
<parent link="l_finger_2_link_1"/>
<child link="l_finger_2_link_median_actuating_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 -0.37" xyz="0 0.05715 0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_2_joint_median_actuating_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paramedian hinge -->
<joint name="l_finger_2_joint_paramedian_hinge" type="revolute">
<parent link="l_finger_2_link_1"/>
<child link="l_finger_2_link_paramedian_hinge"/>
<axis xyz="0 0 1"/>
<!-- -0.37 is hand picked, 0.9719 is hand calculated from atan(0.02381/0.01625) -->
<origin rpy="0 0 0" xyz="0 0.05715 -0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_2_joint_paramedian_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint median actuating hinge median bar -->
<joint name="l_finger_2_joint_median_actuating_hinge_median_bar" type="revolute">
<parent link="l_finger_2_link_median_actuating_hinge"/>
<child link="l_finger_2_link_median_bar"/>
<axis xyz="0 0 1"/>
<!-- hand calc 90 deg + atan(0.01516/0.01625) -->
<origin rpy="0 0 2.3215" xyz="0.01625 0.01516 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_2_joint_median_actuating_hinge_median_bar">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paradistal hinge -->
<joint name="l_finger_2_joint_paradistal_hinge" type="revolute">
<parent link="l_finger_2_link_2"/>
<child link="l_finger_2_link_paradistal_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 0" xyz="0 0.039 -0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_2_joint_paradistal_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paramedian hinge median bar underactuated -->
<joint name="l_finger_2_joint_paramedian_hinge_median_bar_underactuated" type="revolute">
<parent link="l_finger_2_link_paramedian_hinge"/>
<child link="l_finger_2_link_median_bar_underactuated"/>
<axis xyz="0 0 1"/>
<!-- hand calc 90 deg + atan(0.01227/0.00329) -->
<origin rpy="0 0 1.5708" xyz="0.01227 0.00329 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_2_joint_paramedian_hinge_median_bar_underactuated">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint 1 -->
<joint name="l_finger_2_joint_1" type="revolute">
<origin rpy="0 0 -2.0906" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
<parent link="l_finger_2_link_0"/>
<child link="l_finger_2_link_1"/>
<dynamics damping="1" friction="0"/>
<!-- Limits: [0deg.,70deg.] -->
<limit effort="60" lower="0" upper="1.2217" velocity="-1"/>
</joint>
<gazebo reference="l_finger_2_joint_1">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint 2 -->
<joint name="l_finger_2_joint_2" type="revolute">
<parent link="l_finger_2_link_1"/>
<child link="l_finger_2_link_2"/>
<dynamics damping="1" friction="0"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 0" xyz="0 0.05715 0"/>
<!-- Limits: [0deg.,90deg.] -->
<limit effort="60" lower="0" upper="1.5708" velocity="-1"/>
</joint>
<gazebo reference="l_finger_2_joint_2">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint 3 -->
<joint name="l_finger_2_joint_3" type="revolute">
<parent link="l_finger_2_link_2"/>
<child link="l_finger_2_link_3"/>
<dynamics damping="1" friction="0"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 2.0906" xyz="0 0.039 0"/>
<!-- Limits: [-38deg.,60deg.] -->
<limit effort="60" lower="-0.6632" upper="1.0471" velocity="-1"/>
</joint>
<gazebo reference="l_finger_2_joint_3">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- end of joint list -->
<!-- coupling joints in sdf -->
<gazebo>
<joint name="l_finger_2_link_proximal_actuating_bar_median_actuating_hinge_couple" type="revolute">
<parent>l_finger_2_link_median_actuating_hinge</parent>
<child>l_finger_2_link_proximal_actuating_bar</child>
<pose>0.05398 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="l_finger_2_link_proximal_actuating_bar_median_actuating_hinge_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="l_finger_2_link_median_bar_link_3_couple" type="revolute">
<parent>l_finger_2_link_3</parent>
<child>l_finger_2_link_median_bar</child>
<pose>0.0381 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="l_finger_2_link_median_bar_link_3_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="l_finger_2_link_paramedian_bar_paradistal_hinge_couple" type="revolute">
<parent>l_finger_2_link_paradistal_hinge</parent>
<child>l_finger_2_link_median_bar_underactuated</child>
<pose>0.0381 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="l_finger_2_link_median_bar_link_3_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="l_finger_2_link_paradistal_hinge_link_3_couple" type="revolute">
<parent>l_finger_2_link_paradistal_hinge</parent>
<child>l_finger_2_link_3</child>
<pose>0.0381 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="l_finger_2_link_paradistal_hinge_link_3_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="l_finger_2_link_paraproximal_bar_paramedian_hinge_couple" type="revolute">
<parent>l_finger_2_link_paramedian_hinge</parent>
<child>l_finger_2_link_paraproximal_bar</child>
<pose>0.05770 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="l_finger_2_link_paraproximal_bar_paramedian_hinge_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Link list -->
<!-- Link 0 -->
<link name="l_finger_middle_link_0">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_0.STL"/>
</geometry>
<material name="green">
<color rgba="0 1 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_0.STL"/>
</geometry>
<material name="yellow">
<color rgba="0 1 1 1"/>
</material>
</collision>
<inertial>
<mass value="0.1"/>
<origin xyz="-0.01 0 0"/>
<inertia ixx="0.000018" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<gazebo reference="l_finger_middle_link_0">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link 1 -->
<link name="l_finger_middle_link_1">
<visual>
<origin rpy="0 0 1.5708" xyz="0 0.05717 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_1.STL"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 1.5708" xyz="0 0.05717 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_1.STL"/>
</geometry>
<material name="yellow">
<color rgba="0 1 1 1"/>
</material>
</collision>
<inertial>
<origin rpy="0 0 1.5708" xyz="0.00053 0.03218 0"/>
<mass value="0.047"/>
<inertia ixx="0.00000499332" ixy="0.00000091312" ixz="-0.00000000120" iyy="0.00006434531" iyz="-0.00000000007" izz="0.00006061917"/>
</inertial>
</link>
<gazebo reference="l_finger_middle_link_1">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link 2 -->
<link name="l_finger_middle_link_2">
<visual>
<origin rpy="0 0 1.5708" xyz="0 0.03810 0.0075"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_2.STL"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 1.5708" xyz="0 0.03810 0.0075"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_2.STL"/>
</geometry>
<material name="yellow"/>
</collision>
<inertial>
<origin rpy="0 0 1.5708" xyz="0.00048 0.02167 0.00018"/>
<mass value="0.03284"/>
<inertia ixx="0.00000348008" ixy="0.00000031940" ixz="0.00000013041" iyy="0.00002248123" iyz="0.00000000291" izz="0.00001986346"/>
</inertial>
</link>
<gazebo reference="l_finger_middle_link_2">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link 3 -->
<link name="l_finger_middle_link_3">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_3.STL"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_3.STL"/>
</geometry>
<material name="yellow"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01626 0.00049 0.0002"/>
<mass value="0.03354"/>
<inertia ixx="0.00000305151" ixy="0.00000089792" ixz="0.00000000249" iyy="0.00001427978" iyz="-0.00000001191" izz="0.00001264126"/>
</inertial>
</link>
<gazebo reference="l_finger_middle_link_3">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link proximal actuating hinge -->
<link name="l_finger_middle_link_proximal_actuating_hinge">
<visual>
<origin rpy="0 0 0" xyz="0.01429 0 0"/>
<geometry>
<box size="0.02858 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01429 0 0"/>
<geometry>
<box size="0.02858 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0012 -0.00162 -0.00161"/>
<mass value="0.02647"/>
<inertia ixx="0.00000156447" ixy="0.000000236226" ixz="-0.00000014862" iyy="0.00000221068" iyz="-0.00000014369" izz="0.00000323175"/>
</inertial>
</link>
<gazebo reference="l_finger_middle_link_proximal_actuating_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paraproximal actuating hinge -->
<link name="l_finger_middle_link_paraproximal_actuating_hinge">
<visual>
<origin rpy="0 0 0" xyz="0.01143 0 0"/>
<geometry>
<box size="0.02286 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01143 0 0"/>
<geometry>
<box size="0.02286 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0064 0 0"/>
<!-- copied from proximal_actuating_hinge -->
<mass value="0.00362"/>
<inertia ixx="0.00000012043" ixy="0" ixz="0" iyy="0.00000053588" iyz="0" izz="0.00000065322"/>
</inertial>
</link>
<gazebo reference="l_finger_middle_link_paraproximal_actuating_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link proximal actuating bar -->
<link name="l_finger_middle_link_proximal_actuating_bar">
<visual>
<origin rpy="0 0 0" xyz="0.026789 0 0"/>
<geometry>
<box size="0.05398 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.026789 0 0"/>
<geometry>
<box size="0.05398 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.02699 -0.00122 0"/>
<mass value="0.00659"/>
<inertia ixx="0.00000008348" ixy="-0.0000002179" ixz="0.00000000134" iyy="0.00000719076" iyz="0" izz="0.00000718272"/>
</inertial>
</link>
<gazebo reference="l_finger_middle_link_proximal_actuating_bar">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paraproximal bar -->
<link name="l_finger_middle_link_paraproximal_bar">
<visual>
<origin rpy="0 0 0" xyz="0.02885 0 0"/>
<geometry>
<box size="0.05770 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.02885 0 0"/>
<geometry>
<box size="0.05770 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.02858 -0.00129 0"/>
<mass value="0.00732"/>
<inertia ixx="0.00000009065" ixy="-0.00000027047" ixz="0.00000000142" iyy="0.00000878034" iyz="0" izz="0.00000877558"/>
</inertial>
</link>
<gazebo reference="l_finger_middle_link_paraproximal_bar">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link median actuating hinge -->
<link name="l_finger_middle_link_median_actuating_hinge">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0092 0.00514 0"/>
<mass value="0.00359"/>
<inertia ixx="0.00000024735" ixy="0.00000023619" ixz="0" iyy="0.00000047681" iyz="0" izz="0.00000071813"/>
</inertial>
</link>
<gazebo reference="l_finger_middle_link_median_actuating_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link median bar -->
<link name="l_finger_middle_link_median_bar">
<visual>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01905 -0.00107 0"/>
<mass value="0.00538"/>
<inertia ixx="0.00000006639" ixy="-0.00000010996" ixz="0.00000000094" iyy="0.00000305318" iyz="0" izz="0.00000304657"/>
</inertial>
</link>
<gazebo reference="l_finger_middle_link_median_bar">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paramedian hinge -->
<link name="l_finger_middle_link_paramedian_hinge">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.01025 0.00046 0"/>
<mass value="0.00276"/>
<inertia ixx="0.00000004213" ixy="-0.00000001491" ixz="0" iyy="0.00000050258" iyz="0" izz="0.00000054007"/>
</inertial>
</link>
<gazebo reference="l_finger_middle_link_paramedian_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link median bar underactuated -->
<link name="l_finger_middle_link_median_bar_underactuated">
<visual>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01905 -0.00107 0"/>
<mass value="0.00538"/>
<inertia ixx="0.00000006639" ixy="-0.00000010996" ixz="-0.00000000094" iyy="0.00000305318" iyz="0" izz="0.00000304657"/>
</inertial>
</link>
<gazebo reference="l_finger_middle_link_median_bar_underactuated">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paradistal hinge -->
<link name="l_finger_middle_link_paradistal_hinge">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 0.02 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.00548 0 0"/>
<mass value="0.00158"/>
<inertia ixx="0.00000001907" ixy="0" ixz="0" iyy="0.00000010970" iyz="0" izz="0.00000012610"/>
</inertial>
</link>
<gazebo reference="l_finger_middle_link_paradistal_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- End of link list -->
<!-- Joint list -->
<!-- Joint proximal actuating hinge -->
<joint name="l_finger_middle_joint_proximal_actuating_hinge" type="revolute">
<parent link="l_finger_middle_link_0"/>
<child link="l_finger_middle_link_proximal_actuating_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 -2.0906" xyz="0 0 0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_middle_joint_proximal_actuating_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paraproximal actuating hinge -->
<joint name="l_finger_middle_joint_paraproximal_actuating_hinge" type="revolute">
<parent link="l_finger_middle_link_0"/>
<child link="l_finger_middle_link_paraproximal_actuating_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 -2.0906" xyz="0 0 -0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_middle_joint_paraproximal_actuating_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint proximal actuating bar -->
<joint name="l_finger_middle_joint_proximal_actuating_bar" type="revolute">
<parent link="l_finger_middle_link_proximal_actuating_hinge"/>
<child link="l_finger_middle_link_proximal_actuating_bar"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 1.8616" xyz="0.02858 0 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_middle_joint_proximal_actuating_bar">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paraproximal bar -->
<joint name="l_finger_middle_joint_paraproximal_bar" type="revolute">
<parent link="l_finger_middle_link_paraproximal_actuating_hinge"/>
<child link="l_finger_middle_link_paraproximal_bar"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 1.57" xyz="0.02286 0 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_middle_joint_paraproximal_bar">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint median actuating hinge -->
<joint name="l_finger_middle_joint_median_actuating_hinge" type="revolute">
<parent link="l_finger_middle_link_1"/>
<child link="l_finger_middle_link_median_actuating_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 -0.37" xyz="0 0.05715 0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_middle_joint_median_actuating_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paramedian hinge -->
<joint name="l_finger_middle_joint_paramedian_hinge" type="revolute">
<parent link="l_finger_middle_link_1"/>
<child link="l_finger_middle_link_paramedian_hinge"/>
<axis xyz="0 0 1"/>
<!-- -0.37 is hand picked, 0.9719 is hand calculated from atan(0.02381/0.01625) -->
<origin rpy="0 0 0" xyz="0 0.05715 -0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_middle_joint_paramedian_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint median actuating hinge median bar -->
<joint name="l_finger_middle_joint_median_actuating_hinge_median_bar" type="revolute">
<parent link="l_finger_middle_link_median_actuating_hinge"/>
<child link="l_finger_middle_link_median_bar"/>
<axis xyz="0 0 1"/>
<!-- hand calc 90 deg + atan(0.01516/0.01625) -->
<origin rpy="0 0 2.3215" xyz="0.01625 0.01516 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_middle_joint_median_actuating_hinge_median_bar">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paradistal hinge -->
<joint name="l_finger_middle_joint_paradistal_hinge" type="revolute">
<parent link="l_finger_middle_link_2"/>
<child link="l_finger_middle_link_paradistal_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 0" xyz="0 0.039 -0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_middle_joint_paradistal_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paramedian hinge median bar underactuated -->
<joint name="l_finger_middle_joint_paramedian_hinge_median_bar_underactuated" type="revolute">
<parent link="l_finger_middle_link_paramedian_hinge"/>
<child link="l_finger_middle_link_median_bar_underactuated"/>
<axis xyz="0 0 1"/>
<!-- hand calc 90 deg + atan(0.01227/0.00329) -->
<origin rpy="0 0 1.5708" xyz="0.01227 0.00329 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="l_finger_middle_joint_paramedian_hinge_median_bar_underactuated">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint 1 -->
<joint name="l_finger_middle_joint_1" type="revolute">
<origin rpy="0 0 -2.0906" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
<parent link="l_finger_middle_link_0"/>
<child link="l_finger_middle_link_1"/>
<dynamics damping="1" friction="0"/>
<!-- Limits: [0deg.,70deg.] -->
<limit effort="60" lower="0" upper="1.2217" velocity="-1"/>
</joint>
<gazebo reference="l_finger_middle_joint_1">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint 2 -->
<joint name="l_finger_middle_joint_2" type="revolute">
<parent link="l_finger_middle_link_1"/>
<child link="l_finger_middle_link_2"/>
<dynamics damping="1" friction="0"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 0" xyz="0 0.05715 0"/>
<!-- Limits: [0deg.,90deg.] -->
<limit effort="60" lower="0" upper="1.5708" velocity="-1"/>
</joint>
<gazebo reference="l_finger_middle_joint_2">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint 3 -->
<joint name="l_finger_middle_joint_3" type="revolute">
<parent link="l_finger_middle_link_2"/>
<child link="l_finger_middle_link_3"/>
<dynamics damping="1" friction="0"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 2.0906" xyz="0 0.039 0"/>
<!-- Limits: [-38deg.,60deg.] -->
<limit effort="60" lower="-0.6632" upper="1.0471" velocity="-1"/>
</joint>
<gazebo reference="l_finger_middle_joint_3">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- end of joint list -->
<!-- coupling joints in sdf -->
<gazebo>
<joint name="l_finger_middle_link_proximal_actuating_bar_median_actuating_hinge_couple" type="revolute">
<parent>l_finger_middle_link_median_actuating_hinge</parent>
<child>l_finger_middle_link_proximal_actuating_bar</child>
<pose>0.05398 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="l_finger_middle_link_proximal_actuating_bar_median_actuating_hinge_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="l_finger_middle_link_median_bar_link_3_couple" type="revolute">
<parent>l_finger_middle_link_3</parent>
<child>l_finger_middle_link_median_bar</child>
<pose>0.0381 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="l_finger_middle_link_median_bar_link_3_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="l_finger_middle_link_paramedian_bar_paradistal_hinge_couple" type="revolute">
<parent>l_finger_middle_link_paradistal_hinge</parent>
<child>l_finger_middle_link_median_bar_underactuated</child>
<pose>0.0381 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="l_finger_middle_link_median_bar_link_3_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="l_finger_middle_link_paradistal_hinge_link_3_couple" type="revolute">
<parent>l_finger_middle_link_paradistal_hinge</parent>
<child>l_finger_middle_link_3</child>
<pose>0.0381 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="l_finger_middle_link_paradistal_hinge_link_3_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="l_finger_middle_link_paraproximal_bar_paramedian_hinge_couple" type="revolute">
<parent>l_finger_middle_link_paramedian_hinge</parent>
<child>l_finger_middle_link_paraproximal_bar</child>
<pose>0.05770 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="l_finger_middle_link_paraproximal_bar_paramedian_hinge_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- link list -->
<!-- Link palm -->
<link name="l_palm">
<visual>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/palm.STL"/>
</geometry>
<material name="green">
<color rgba="0 1 0 1"/>
</material>
</visual>
<!-- Simple shape collision -->
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.1 0.1 0.1"/>
</geometry>
<material name="yellow">
<color rgba="0 1 1 1"/>
</material>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="1.3"/>
<inertia ixx="0.0035" ixy="0" ixz="-0" iyy="0.0035" iyz="0" izz="0.0035"/>
</inertial>
</link>
<gazebo reference="l_palm">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- End of link list -->
<!-- Joint list -->
<!-- Joint palm_finger_1_joint -->
<joint name="l_palm_finger_1_joint" type="revolute">
<parent link="l_palm"/>
<child link="l_finger_1_link_0"/>
<dynamics damping="1" friction="0"/>
<axis xyz="0 1 0"/>
<origin rpy="0 3.1416 -1.57" xyz="-0.0455 0.0214 0.036"/>
<!-- Limits: [-17deg.,17deg.] -->
<limit effort="60" lower="-0.2967" upper="0.2967" velocity="-1"/>
</joint>
<gazebo reference="l_palm_finger_1_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint palm_finger_2_joint -->
<joint name="l_palm_finger_2_joint" type="revolute">
<parent link="l_palm"/>
<child link="l_finger_2_link_0"/>
<dynamics damping="1" friction="0"/>
<axis xyz="0 1 0"/>
<origin rpy="0 3.1416 -1.57" xyz="-0.0455 0.0214 -0.036"/>
<!-- Limits: [-17deg.,17deg.] -->
<limit effort="60" lower="-0.2967" upper="0.2967" velocity="-1"/>
</joint>
<gazebo reference="l_palm_finger_2_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint palm_finger_middle_joint -->
<joint name="l_palm_finger_middle_joint" type="revolute">
<parent link="l_palm"/>
<child link="l_finger_middle_link_0"/>
<dynamics damping="1" friction="0"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 1.57" xyz="0.0455 0.0214 0"/>
<limit effort="60" lower="0" upper="0" velocity="-1"/>
</joint>
<gazebo reference="l_palm_finger_middle_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- end of joint list -->
<!-- joint attaching parent link to robotiq hand -->
<joint name="r_robotiq_hand_joint" type="fixed">
<origin rpy="1.57 0 2.355" xyz="0 0 0.05398"/>
<parent link="r_robotiq_fts300_fts_toolside"/>
<child link="r_palm"/>
</joint>
<!-- Insert the fingers -->
<!-- Link list -->
<!-- Link 0 -->
<link name="r_finger_1_link_0">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_0.STL"/>
</geometry>
<material name="green">
<color rgba="0 1 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_0.STL"/>
</geometry>
<material name="yellow">
<color rgba="0 1 1 1"/>
</material>
</collision>
<inertial>
<mass value="0.1"/>
<origin xyz="-0.01 0 0"/>
<inertia ixx="0.000018" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<gazebo reference="r_finger_1_link_0">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link 1 -->
<link name="r_finger_1_link_1">
<visual>
<origin rpy="0 0 1.5708" xyz="0 0.05717 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_1.STL"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 1.5708" xyz="0 0.05717 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_1.STL"/>
</geometry>
<material name="yellow">
<color rgba="0 1 1 1"/>
</material>
</collision>
<inertial>
<origin rpy="0 0 1.5708" xyz="0.00053 0.03218 0"/>
<mass value="0.047"/>
<inertia ixx="0.00000499332" ixy="0.00000091312" ixz="-0.00000000120" iyy="0.00006434531" iyz="-0.00000000007" izz="0.00006061917"/>
</inertial>
</link>
<gazebo reference="r_finger_1_link_1">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link 2 -->
<link name="r_finger_1_link_2">
<visual>
<origin rpy="0 0 1.5708" xyz="0 0.03810 0.0075"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_2.STL"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 1.5708" xyz="0 0.03810 0.0075"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_2.STL"/>
</geometry>
<material name="yellow"/>
</collision>
<inertial>
<origin rpy="0 0 1.5708" xyz="0.00048 0.02167 0.00018"/>
<mass value="0.03284"/>
<inertia ixx="0.00000348008" ixy="0.00000031940" ixz="0.00000013041" iyy="0.00002248123" iyz="0.00000000291" izz="0.00001986346"/>
</inertial>
</link>
<gazebo reference="r_finger_1_link_2">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link 3 -->
<link name="r_finger_1_link_3">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_3.STL"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_3.STL"/>
</geometry>
<material name="yellow"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01626 0.00049 0.0002"/>
<mass value="0.03354"/>
<inertia ixx="0.00000305151" ixy="0.00000089792" ixz="0.00000000249" iyy="0.00001427978" iyz="-0.00000001191" izz="0.00001264126"/>
</inertial>
</link>
<gazebo reference="r_finger_1_link_3">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link proximal actuating hinge -->
<link name="r_finger_1_link_proximal_actuating_hinge">
<visual>
<origin rpy="0 0 0" xyz="0.01429 0 0"/>
<geometry>
<box size="0.02858 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01429 0 0"/>
<geometry>
<box size="0.02858 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0012 -0.00162 -0.00161"/>
<mass value="0.02647"/>
<inertia ixx="0.00000156447" ixy="0.000000236226" ixz="-0.00000014862" iyy="0.00000221068" iyz="-0.00000014369" izz="0.00000323175"/>
</inertial>
</link>
<gazebo reference="r_finger_1_link_proximal_actuating_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paraproximal actuating hinge -->
<link name="r_finger_1_link_paraproximal_actuating_hinge">
<visual>
<origin rpy="0 0 0" xyz="0.01143 0 0"/>
<geometry>
<box size="0.02286 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01143 0 0"/>
<geometry>
<box size="0.02286 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0064 0 0"/>
<!-- copied from proximal_actuating_hinge -->
<mass value="0.00362"/>
<inertia ixx="0.00000012043" ixy="0" ixz="0" iyy="0.00000053588" iyz="0" izz="0.00000065322"/>
</inertial>
</link>
<gazebo reference="r_finger_1_link_paraproximal_actuating_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link proximal actuating bar -->
<link name="r_finger_1_link_proximal_actuating_bar">
<visual>
<origin rpy="0 0 0" xyz="0.026789 0 0"/>
<geometry>
<box size="0.05398 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.026789 0 0"/>
<geometry>
<box size="0.05398 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.02699 -0.00122 0"/>
<mass value="0.00659"/>
<inertia ixx="0.00000008348" ixy="-0.0000002179" ixz="0.00000000134" iyy="0.00000719076" iyz="0" izz="0.00000718272"/>
</inertial>
</link>
<gazebo reference="r_finger_1_link_proximal_actuating_bar">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paraproximal bar -->
<link name="r_finger_1_link_paraproximal_bar">
<visual>
<origin rpy="0 0 0" xyz="0.02885 0 0"/>
<geometry>
<box size="0.05770 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.02885 0 0"/>
<geometry>
<box size="0.05770 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.02858 -0.00129 0"/>
<mass value="0.00732"/>
<inertia ixx="0.00000009065" ixy="-0.00000027047" ixz="0.00000000142" iyy="0.00000878034" iyz="0" izz="0.00000877558"/>
</inertial>
</link>
<gazebo reference="r_finger_1_link_paraproximal_bar">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link median actuating hinge -->
<link name="r_finger_1_link_median_actuating_hinge">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0092 0.00514 0"/>
<mass value="0.00359"/>
<inertia ixx="0.00000024735" ixy="0.00000023619" ixz="0" iyy="0.00000047681" iyz="0" izz="0.00000071813"/>
</inertial>
</link>
<gazebo reference="r_finger_1_link_median_actuating_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link median bar -->
<link name="r_finger_1_link_median_bar">
<visual>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01905 -0.00107 0"/>
<mass value="0.00538"/>
<inertia ixx="0.00000006639" ixy="-0.00000010996" ixz="0.00000000094" iyy="0.00000305318" iyz="0" izz="0.00000304657"/>
</inertial>
</link>
<gazebo reference="r_finger_1_link_median_bar">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paramedian hinge -->
<link name="r_finger_1_link_paramedian_hinge">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.01025 0.00046 0"/>
<mass value="0.00276"/>
<inertia ixx="0.00000004213" ixy="-0.00000001491" ixz="0" iyy="0.00000050258" iyz="0" izz="0.00000054007"/>
</inertial>
</link>
<gazebo reference="r_finger_1_link_paramedian_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link median bar underactuated -->
<link name="r_finger_1_link_median_bar_underactuated">
<visual>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01905 -0.00107 0"/>
<mass value="0.00538"/>
<inertia ixx="0.00000006639" ixy="-0.00000010996" ixz="-0.00000000094" iyy="0.00000305318" iyz="0" izz="0.00000304657"/>
</inertial>
</link>
<gazebo reference="r_finger_1_link_median_bar_underactuated">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paradistal hinge -->
<link name="r_finger_1_link_paradistal_hinge">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 0.02 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.00548 0 0"/>
<mass value="0.00158"/>
<inertia ixx="0.00000001907" ixy="0" ixz="0" iyy="0.00000010970" iyz="0" izz="0.00000012610"/>
</inertial>
</link>
<gazebo reference="r_finger_1_link_paradistal_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- End of link list -->
<!-- Joint list -->
<!-- Joint proximal actuating hinge -->
<joint name="r_finger_1_joint_proximal_actuating_hinge" type="revolute">
<parent link="r_finger_1_link_0"/>
<child link="r_finger_1_link_proximal_actuating_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 -2.0906" xyz="0 0 0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_1_joint_proximal_actuating_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paraproximal actuating hinge -->
<joint name="r_finger_1_joint_paraproximal_actuating_hinge" type="revolute">
<parent link="r_finger_1_link_0"/>
<child link="r_finger_1_link_paraproximal_actuating_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 -2.0906" xyz="0 0 -0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_1_joint_paraproximal_actuating_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint proximal actuating bar -->
<joint name="r_finger_1_joint_proximal_actuating_bar" type="revolute">
<parent link="r_finger_1_link_proximal_actuating_hinge"/>
<child link="r_finger_1_link_proximal_actuating_bar"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 1.8616" xyz="0.02858 0 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_1_joint_proximal_actuating_bar">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paraproximal bar -->
<joint name="r_finger_1_joint_paraproximal_bar" type="revolute">
<parent link="r_finger_1_link_paraproximal_actuating_hinge"/>
<child link="r_finger_1_link_paraproximal_bar"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 1.57" xyz="0.02286 0 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_1_joint_paraproximal_bar">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint median actuating hinge -->
<joint name="r_finger_1_joint_median_actuating_hinge" type="revolute">
<parent link="r_finger_1_link_1"/>
<child link="r_finger_1_link_median_actuating_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 -0.37" xyz="0 0.05715 0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_1_joint_median_actuating_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paramedian hinge -->
<joint name="r_finger_1_joint_paramedian_hinge" type="revolute">
<parent link="r_finger_1_link_1"/>
<child link="r_finger_1_link_paramedian_hinge"/>
<axis xyz="0 0 1"/>
<!-- -0.37 is hand picked, 0.9719 is hand calculated from atan(0.02381/0.01625) -->
<origin rpy="0 0 0" xyz="0 0.05715 -0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_1_joint_paramedian_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint median actuating hinge median bar -->
<joint name="r_finger_1_joint_median_actuating_hinge_median_bar" type="revolute">
<parent link="r_finger_1_link_median_actuating_hinge"/>
<child link="r_finger_1_link_median_bar"/>
<axis xyz="0 0 1"/>
<!-- hand calc 90 deg + atan(0.01516/0.01625) -->
<origin rpy="0 0 2.3215" xyz="0.01625 0.01516 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_1_joint_median_actuating_hinge_median_bar">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paradistal hinge -->
<joint name="r_finger_1_joint_paradistal_hinge" type="revolute">
<parent link="r_finger_1_link_2"/>
<child link="r_finger_1_link_paradistal_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 0" xyz="0 0.039 -0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_1_joint_paradistal_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paramedian hinge median bar underactuated -->
<joint name="r_finger_1_joint_paramedian_hinge_median_bar_underactuated" type="revolute">
<parent link="r_finger_1_link_paramedian_hinge"/>
<child link="r_finger_1_link_median_bar_underactuated"/>
<axis xyz="0 0 1"/>
<!-- hand calc 90 deg + atan(0.01227/0.00329) -->
<origin rpy="0 0 1.5708" xyz="0.01227 0.00329 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_1_joint_paramedian_hinge_median_bar_underactuated">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint 1 -->
<joint name="r_finger_1_joint_1" type="revolute">
<origin rpy="0 0 -2.0906" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
<parent link="r_finger_1_link_0"/>
<child link="r_finger_1_link_1"/>
<dynamics damping="1" friction="0"/>
<!-- Limits: [0deg.,70deg.] -->
<limit effort="60" lower="0" upper="1.2217" velocity="-1"/>
</joint>
<gazebo reference="r_finger_1_joint_1">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint 2 -->
<joint name="r_finger_1_joint_2" type="revolute">
<parent link="r_finger_1_link_1"/>
<child link="r_finger_1_link_2"/>
<dynamics damping="1" friction="0"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 0" xyz="0 0.05715 0"/>
<!-- Limits: [0deg.,90deg.] -->
<limit effort="60" lower="0" upper="1.5708" velocity="-1"/>
</joint>
<gazebo reference="r_finger_1_joint_2">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint 3 -->
<joint name="r_finger_1_joint_3" type="revolute">
<parent link="r_finger_1_link_2"/>
<child link="r_finger_1_link_3"/>
<dynamics damping="1" friction="0"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 2.0906" xyz="0 0.039 0"/>
<!-- Limits: [-38deg.,60deg.] -->
<limit effort="60" lower="-0.6632" upper="1.0471" velocity="-1"/>
</joint>
<gazebo reference="r_finger_1_joint_3">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- end of joint list -->
<!-- coupling joints in sdf -->
<gazebo>
<joint name="r_finger_1_link_proximal_actuating_bar_median_actuating_hinge_couple" type="revolute">
<parent>r_finger_1_link_median_actuating_hinge</parent>
<child>r_finger_1_link_proximal_actuating_bar</child>
<pose>0.05398 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="r_finger_1_link_proximal_actuating_bar_median_actuating_hinge_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="r_finger_1_link_median_bar_link_3_couple" type="revolute">
<parent>r_finger_1_link_3</parent>
<child>r_finger_1_link_median_bar</child>
<pose>0.0381 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="r_finger_1_link_median_bar_link_3_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="r_finger_1_link_paramedian_bar_paradistal_hinge_couple" type="revolute">
<parent>r_finger_1_link_paradistal_hinge</parent>
<child>r_finger_1_link_median_bar_underactuated</child>
<pose>0.0381 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="r_finger_1_link_median_bar_link_3_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="r_finger_1_link_paradistal_hinge_link_3_couple" type="revolute">
<parent>r_finger_1_link_paradistal_hinge</parent>
<child>r_finger_1_link_3</child>
<pose>0.0381 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="r_finger_1_link_paradistal_hinge_link_3_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="r_finger_1_link_paraproximal_bar_paramedian_hinge_couple" type="revolute">
<parent>r_finger_1_link_paramedian_hinge</parent>
<child>r_finger_1_link_paraproximal_bar</child>
<pose>0.05770 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="r_finger_1_link_paraproximal_bar_paramedian_hinge_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Link list -->
<!-- Link 0 -->
<link name="r_finger_2_link_0">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_0.STL"/>
</geometry>
<material name="green">
<color rgba="0 1 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_0.STL"/>
</geometry>
<material name="yellow">
<color rgba="0 1 1 1"/>
</material>
</collision>
<inertial>
<mass value="0.1"/>
<origin xyz="-0.01 0 0"/>
<inertia ixx="0.000018" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<gazebo reference="r_finger_2_link_0">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link 1 -->
<link name="r_finger_2_link_1">
<visual>
<origin rpy="0 0 1.5708" xyz="0 0.05717 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_1.STL"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 1.5708" xyz="0 0.05717 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_1.STL"/>
</geometry>
<material name="yellow">
<color rgba="0 1 1 1"/>
</material>
</collision>
<inertial>
<origin rpy="0 0 1.5708" xyz="0.00053 0.03218 0"/>
<mass value="0.047"/>
<inertia ixx="0.00000499332" ixy="0.00000091312" ixz="-0.00000000120" iyy="0.00006434531" iyz="-0.00000000007" izz="0.00006061917"/>
</inertial>
</link>
<gazebo reference="r_finger_2_link_1">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link 2 -->
<link name="r_finger_2_link_2">
<visual>
<origin rpy="0 0 1.5708" xyz="0 0.03810 0.0075"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_2.STL"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 1.5708" xyz="0 0.03810 0.0075"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_2.STL"/>
</geometry>
<material name="yellow"/>
</collision>
<inertial>
<origin rpy="0 0 1.5708" xyz="0.00048 0.02167 0.00018"/>
<mass value="0.03284"/>
<inertia ixx="0.00000348008" ixy="0.00000031940" ixz="0.00000013041" iyy="0.00002248123" iyz="0.00000000291" izz="0.00001986346"/>
</inertial>
</link>
<gazebo reference="r_finger_2_link_2">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link 3 -->
<link name="r_finger_2_link_3">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_3.STL"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_3.STL"/>
</geometry>
<material name="yellow"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01626 0.00049 0.0002"/>
<mass value="0.03354"/>
<inertia ixx="0.00000305151" ixy="0.00000089792" ixz="0.00000000249" iyy="0.00001427978" iyz="-0.00000001191" izz="0.00001264126"/>
</inertial>
</link>
<gazebo reference="r_finger_2_link_3">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link proximal actuating hinge -->
<link name="r_finger_2_link_proximal_actuating_hinge">
<visual>
<origin rpy="0 0 0" xyz="0.01429 0 0"/>
<geometry>
<box size="0.02858 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01429 0 0"/>
<geometry>
<box size="0.02858 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0012 -0.00162 -0.00161"/>
<mass value="0.02647"/>
<inertia ixx="0.00000156447" ixy="0.000000236226" ixz="-0.00000014862" iyy="0.00000221068" iyz="-0.00000014369" izz="0.00000323175"/>
</inertial>
</link>
<gazebo reference="r_finger_2_link_proximal_actuating_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paraproximal actuating hinge -->
<link name="r_finger_2_link_paraproximal_actuating_hinge">
<visual>
<origin rpy="0 0 0" xyz="0.01143 0 0"/>
<geometry>
<box size="0.02286 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01143 0 0"/>
<geometry>
<box size="0.02286 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0064 0 0"/>
<!-- copied from proximal_actuating_hinge -->
<mass value="0.00362"/>
<inertia ixx="0.00000012043" ixy="0" ixz="0" iyy="0.00000053588" iyz="0" izz="0.00000065322"/>
</inertial>
</link>
<gazebo reference="r_finger_2_link_paraproximal_actuating_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link proximal actuating bar -->
<link name="r_finger_2_link_proximal_actuating_bar">
<visual>
<origin rpy="0 0 0" xyz="0.026789 0 0"/>
<geometry>
<box size="0.05398 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.026789 0 0"/>
<geometry>
<box size="0.05398 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.02699 -0.00122 0"/>
<mass value="0.00659"/>
<inertia ixx="0.00000008348" ixy="-0.0000002179" ixz="0.00000000134" iyy="0.00000719076" iyz="0" izz="0.00000718272"/>
</inertial>
</link>
<gazebo reference="r_finger_2_link_proximal_actuating_bar">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paraproximal bar -->
<link name="r_finger_2_link_paraproximal_bar">
<visual>
<origin rpy="0 0 0" xyz="0.02885 0 0"/>
<geometry>
<box size="0.05770 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.02885 0 0"/>
<geometry>
<box size="0.05770 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.02858 -0.00129 0"/>
<mass value="0.00732"/>
<inertia ixx="0.00000009065" ixy="-0.00000027047" ixz="0.00000000142" iyy="0.00000878034" iyz="0" izz="0.00000877558"/>
</inertial>
</link>
<gazebo reference="r_finger_2_link_paraproximal_bar">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link median actuating hinge -->
<link name="r_finger_2_link_median_actuating_hinge">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0092 0.00514 0"/>
<mass value="0.00359"/>
<inertia ixx="0.00000024735" ixy="0.00000023619" ixz="0" iyy="0.00000047681" iyz="0" izz="0.00000071813"/>
</inertial>
</link>
<gazebo reference="r_finger_2_link_median_actuating_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link median bar -->
<link name="r_finger_2_link_median_bar">
<visual>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01905 -0.00107 0"/>
<mass value="0.00538"/>
<inertia ixx="0.00000006639" ixy="-0.00000010996" ixz="0.00000000094" iyy="0.00000305318" iyz="0" izz="0.00000304657"/>
</inertial>
</link>
<gazebo reference="r_finger_2_link_median_bar">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paramedian hinge -->
<link name="r_finger_2_link_paramedian_hinge">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.01025 0.00046 0"/>
<mass value="0.00276"/>
<inertia ixx="0.00000004213" ixy="-0.00000001491" ixz="0" iyy="0.00000050258" iyz="0" izz="0.00000054007"/>
</inertial>
</link>
<gazebo reference="r_finger_2_link_paramedian_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link median bar underactuated -->
<link name="r_finger_2_link_median_bar_underactuated">
<visual>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01905 -0.00107 0"/>
<mass value="0.00538"/>
<inertia ixx="0.00000006639" ixy="-0.00000010996" ixz="-0.00000000094" iyy="0.00000305318" iyz="0" izz="0.00000304657"/>
</inertial>
</link>
<gazebo reference="r_finger_2_link_median_bar_underactuated">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paradistal hinge -->
<link name="r_finger_2_link_paradistal_hinge">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 0.02 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.00548 0 0"/>
<mass value="0.00158"/>
<inertia ixx="0.00000001907" ixy="0" ixz="0" iyy="0.00000010970" iyz="0" izz="0.00000012610"/>
</inertial>
</link>
<gazebo reference="r_finger_2_link_paradistal_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- End of link list -->
<!-- Joint list -->
<!-- Joint proximal actuating hinge -->
<joint name="r_finger_2_joint_proximal_actuating_hinge" type="revolute">
<parent link="r_finger_2_link_0"/>
<child link="r_finger_2_link_proximal_actuating_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 -2.0906" xyz="0 0 0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_2_joint_proximal_actuating_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paraproximal actuating hinge -->
<joint name="r_finger_2_joint_paraproximal_actuating_hinge" type="revolute">
<parent link="r_finger_2_link_0"/>
<child link="r_finger_2_link_paraproximal_actuating_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 -2.0906" xyz="0 0 -0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_2_joint_paraproximal_actuating_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint proximal actuating bar -->
<joint name="r_finger_2_joint_proximal_actuating_bar" type="revolute">
<parent link="r_finger_2_link_proximal_actuating_hinge"/>
<child link="r_finger_2_link_proximal_actuating_bar"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 1.8616" xyz="0.02858 0 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_2_joint_proximal_actuating_bar">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paraproximal bar -->
<joint name="r_finger_2_joint_paraproximal_bar" type="revolute">
<parent link="r_finger_2_link_paraproximal_actuating_hinge"/>
<child link="r_finger_2_link_paraproximal_bar"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 1.57" xyz="0.02286 0 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_2_joint_paraproximal_bar">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint median actuating hinge -->
<joint name="r_finger_2_joint_median_actuating_hinge" type="revolute">
<parent link="r_finger_2_link_1"/>
<child link="r_finger_2_link_median_actuating_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 -0.37" xyz="0 0.05715 0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_2_joint_median_actuating_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paramedian hinge -->
<joint name="r_finger_2_joint_paramedian_hinge" type="revolute">
<parent link="r_finger_2_link_1"/>
<child link="r_finger_2_link_paramedian_hinge"/>
<axis xyz="0 0 1"/>
<!-- -0.37 is hand picked, 0.9719 is hand calculated from atan(0.02381/0.01625) -->
<origin rpy="0 0 0" xyz="0 0.05715 -0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_2_joint_paramedian_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint median actuating hinge median bar -->
<joint name="r_finger_2_joint_median_actuating_hinge_median_bar" type="revolute">
<parent link="r_finger_2_link_median_actuating_hinge"/>
<child link="r_finger_2_link_median_bar"/>
<axis xyz="0 0 1"/>
<!-- hand calc 90 deg + atan(0.01516/0.01625) -->
<origin rpy="0 0 2.3215" xyz="0.01625 0.01516 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_2_joint_median_actuating_hinge_median_bar">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paradistal hinge -->
<joint name="r_finger_2_joint_paradistal_hinge" type="revolute">
<parent link="r_finger_2_link_2"/>
<child link="r_finger_2_link_paradistal_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 0" xyz="0 0.039 -0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_2_joint_paradistal_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paramedian hinge median bar underactuated -->
<joint name="r_finger_2_joint_paramedian_hinge_median_bar_underactuated" type="revolute">
<parent link="r_finger_2_link_paramedian_hinge"/>
<child link="r_finger_2_link_median_bar_underactuated"/>
<axis xyz="0 0 1"/>
<!-- hand calc 90 deg + atan(0.01227/0.00329) -->
<origin rpy="0 0 1.5708" xyz="0.01227 0.00329 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_2_joint_paramedian_hinge_median_bar_underactuated">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint 1 -->
<joint name="r_finger_2_joint_1" type="revolute">
<origin rpy="0 0 -2.0906" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
<parent link="r_finger_2_link_0"/>
<child link="r_finger_2_link_1"/>
<dynamics damping="1" friction="0"/>
<!-- Limits: [0deg.,70deg.] -->
<limit effort="60" lower="0" upper="1.2217" velocity="-1"/>
</joint>
<gazebo reference="r_finger_2_joint_1">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint 2 -->
<joint name="r_finger_2_joint_2" type="revolute">
<parent link="r_finger_2_link_1"/>
<child link="r_finger_2_link_2"/>
<dynamics damping="1" friction="0"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 0" xyz="0 0.05715 0"/>
<!-- Limits: [0deg.,90deg.] -->
<limit effort="60" lower="0" upper="1.5708" velocity="-1"/>
</joint>
<gazebo reference="r_finger_2_joint_2">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint 3 -->
<joint name="r_finger_2_joint_3" type="revolute">
<parent link="r_finger_2_link_2"/>
<child link="r_finger_2_link_3"/>
<dynamics damping="1" friction="0"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 2.0906" xyz="0 0.039 0"/>
<!-- Limits: [-38deg.,60deg.] -->
<limit effort="60" lower="-0.6632" upper="1.0471" velocity="-1"/>
</joint>
<gazebo reference="r_finger_2_joint_3">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- end of joint list -->
<!-- coupling joints in sdf -->
<gazebo>
<joint name="r_finger_2_link_proximal_actuating_bar_median_actuating_hinge_couple" type="revolute">
<parent>r_finger_2_link_median_actuating_hinge</parent>
<child>r_finger_2_link_proximal_actuating_bar</child>
<pose>0.05398 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="r_finger_2_link_proximal_actuating_bar_median_actuating_hinge_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="r_finger_2_link_median_bar_link_3_couple" type="revolute">
<parent>r_finger_2_link_3</parent>
<child>r_finger_2_link_median_bar</child>
<pose>0.0381 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="r_finger_2_link_median_bar_link_3_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="r_finger_2_link_paramedian_bar_paradistal_hinge_couple" type="revolute">
<parent>r_finger_2_link_paradistal_hinge</parent>
<child>r_finger_2_link_median_bar_underactuated</child>
<pose>0.0381 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="r_finger_2_link_median_bar_link_3_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="r_finger_2_link_paradistal_hinge_link_3_couple" type="revolute">
<parent>r_finger_2_link_paradistal_hinge</parent>
<child>r_finger_2_link_3</child>
<pose>0.0381 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="r_finger_2_link_paradistal_hinge_link_3_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="r_finger_2_link_paraproximal_bar_paramedian_hinge_couple" type="revolute">
<parent>r_finger_2_link_paramedian_hinge</parent>
<child>r_finger_2_link_paraproximal_bar</child>
<pose>0.05770 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="r_finger_2_link_paraproximal_bar_paramedian_hinge_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Link list -->
<!-- Link 0 -->
<link name="r_finger_middle_link_0">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_0.STL"/>
</geometry>
<material name="green">
<color rgba="0 1 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_0.STL"/>
</geometry>
<material name="yellow">
<color rgba="0 1 1 1"/>
</material>
</collision>
<inertial>
<mass value="0.1"/>
<origin xyz="-0.01 0 0"/>
<inertia ixx="0.000018" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<gazebo reference="r_finger_middle_link_0">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link 1 -->
<link name="r_finger_middle_link_1">
<visual>
<origin rpy="0 0 1.5708" xyz="0 0.05717 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_1.STL"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 1.5708" xyz="0 0.05717 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_1.STL"/>
</geometry>
<material name="yellow">
<color rgba="0 1 1 1"/>
</material>
</collision>
<inertial>
<origin rpy="0 0 1.5708" xyz="0.00053 0.03218 0"/>
<mass value="0.047"/>
<inertia ixx="0.00000499332" ixy="0.00000091312" ixz="-0.00000000120" iyy="0.00006434531" iyz="-0.00000000007" izz="0.00006061917"/>
</inertial>
</link>
<gazebo reference="r_finger_middle_link_1">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link 2 -->
<link name="r_finger_middle_link_2">
<visual>
<origin rpy="0 0 1.5708" xyz="0 0.03810 0.0075"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_2.STL"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 1.5708" xyz="0 0.03810 0.0075"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_2.STL"/>
</geometry>
<material name="yellow"/>
</collision>
<inertial>
<origin rpy="0 0 1.5708" xyz="0.00048 0.02167 0.00018"/>
<mass value="0.03284"/>
<inertia ixx="0.00000348008" ixy="0.00000031940" ixz="0.00000013041" iyy="0.00002248123" iyz="0.00000000291" izz="0.00001986346"/>
</inertial>
</link>
<gazebo reference="r_finger_middle_link_2">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link 3 -->
<link name="r_finger_middle_link_3">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_3.STL"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_3.STL"/>
</geometry>
<material name="yellow"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01626 0.00049 0.0002"/>
<mass value="0.03354"/>
<inertia ixx="0.00000305151" ixy="0.00000089792" ixz="0.00000000249" iyy="0.00001427978" iyz="-0.00000001191" izz="0.00001264126"/>
</inertial>
</link>
<gazebo reference="r_finger_middle_link_3">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link proximal actuating hinge -->
<link name="r_finger_middle_link_proximal_actuating_hinge">
<visual>
<origin rpy="0 0 0" xyz="0.01429 0 0"/>
<geometry>
<box size="0.02858 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01429 0 0"/>
<geometry>
<box size="0.02858 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0012 -0.00162 -0.00161"/>
<mass value="0.02647"/>
<inertia ixx="0.00000156447" ixy="0.000000236226" ixz="-0.00000014862" iyy="0.00000221068" iyz="-0.00000014369" izz="0.00000323175"/>
</inertial>
</link>
<gazebo reference="r_finger_middle_link_proximal_actuating_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paraproximal actuating hinge -->
<link name="r_finger_middle_link_paraproximal_actuating_hinge">
<visual>
<origin rpy="0 0 0" xyz="0.01143 0 0"/>
<geometry>
<box size="0.02286 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01143 0 0"/>
<geometry>
<box size="0.02286 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0064 0 0"/>
<!-- copied from proximal_actuating_hinge -->
<mass value="0.00362"/>
<inertia ixx="0.00000012043" ixy="0" ixz="0" iyy="0.00000053588" iyz="0" izz="0.00000065322"/>
</inertial>
</link>
<gazebo reference="r_finger_middle_link_paraproximal_actuating_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link proximal actuating bar -->
<link name="r_finger_middle_link_proximal_actuating_bar">
<visual>
<origin rpy="0 0 0" xyz="0.026789 0 0"/>
<geometry>
<box size="0.05398 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.026789 0 0"/>
<geometry>
<box size="0.05398 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.02699 -0.00122 0"/>
<mass value="0.00659"/>
<inertia ixx="0.00000008348" ixy="-0.0000002179" ixz="0.00000000134" iyy="0.00000719076" iyz="0" izz="0.00000718272"/>
</inertial>
</link>
<gazebo reference="r_finger_middle_link_proximal_actuating_bar">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paraproximal bar -->
<link name="r_finger_middle_link_paraproximal_bar">
<visual>
<origin rpy="0 0 0" xyz="0.02885 0 0"/>
<geometry>
<box size="0.05770 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.02885 0 0"/>
<geometry>
<box size="0.05770 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.02858 -0.00129 0"/>
<mass value="0.00732"/>
<inertia ixx="0.00000009065" ixy="-0.00000027047" ixz="0.00000000142" iyy="0.00000878034" iyz="0" izz="0.00000877558"/>
</inertial>
</link>
<gazebo reference="r_finger_middle_link_paraproximal_bar">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link median actuating hinge -->
<link name="r_finger_middle_link_median_actuating_hinge">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0092 0.00514 0"/>
<mass value="0.00359"/>
<inertia ixx="0.00000024735" ixy="0.00000023619" ixz="0" iyy="0.00000047681" iyz="0" izz="0.00000071813"/>
</inertial>
</link>
<gazebo reference="r_finger_middle_link_median_actuating_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link median bar -->
<link name="r_finger_middle_link_median_bar">
<visual>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01905 -0.00107 0"/>
<mass value="0.00538"/>
<inertia ixx="0.00000006639" ixy="-0.00000010996" ixz="0.00000000094" iyy="0.00000305318" iyz="0" izz="0.00000304657"/>
</inertial>
</link>
<gazebo reference="r_finger_middle_link_median_bar">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paramedian hinge -->
<link name="r_finger_middle_link_paramedian_hinge">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.01025 0.00046 0"/>
<mass value="0.00276"/>
<inertia ixx="0.00000004213" ixy="-0.00000001491" ixz="0" iyy="0.00000050258" iyz="0" izz="0.00000054007"/>
</inertial>
</link>
<gazebo reference="r_finger_middle_link_paramedian_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link median bar underactuated -->
<link name="r_finger_middle_link_median_bar_underactuated">
<visual>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01905 0 0"/>
<geometry>
<box size="0.0381 .0075 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01905 -0.00107 0"/>
<mass value="0.00538"/>
<inertia ixx="0.00000006639" ixy="-0.00000010996" ixz="-0.00000000094" iyy="0.00000305318" iyz="0" izz="0.00000304657"/>
</inertial>
</link>
<gazebo reference="r_finger_middle_link_median_bar_underactuated">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- Link paradistal hinge -->
<link name="r_finger_middle_link_paradistal_hinge">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 .02 .002"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".02 0.02 .002"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.00548 0 0"/>
<mass value="0.00158"/>
<inertia ixx="0.00000001907" ixy="0" ixz="0" iyy="0.00000010970" iyz="0" izz="0.00000012610"/>
</inertial>
</link>
<gazebo reference="r_finger_middle_link_paradistal_hinge">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- End of link list -->
<!-- Joint list -->
<!-- Joint proximal actuating hinge -->
<joint name="r_finger_middle_joint_proximal_actuating_hinge" type="revolute">
<parent link="r_finger_middle_link_0"/>
<child link="r_finger_middle_link_proximal_actuating_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 -2.0906" xyz="0 0 0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_middle_joint_proximal_actuating_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paraproximal actuating hinge -->
<joint name="r_finger_middle_joint_paraproximal_actuating_hinge" type="revolute">
<parent link="r_finger_middle_link_0"/>
<child link="r_finger_middle_link_paraproximal_actuating_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 -2.0906" xyz="0 0 -0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_middle_joint_paraproximal_actuating_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint proximal actuating bar -->
<joint name="r_finger_middle_joint_proximal_actuating_bar" type="revolute">
<parent link="r_finger_middle_link_proximal_actuating_hinge"/>
<child link="r_finger_middle_link_proximal_actuating_bar"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 1.8616" xyz="0.02858 0 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_middle_joint_proximal_actuating_bar">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paraproximal bar -->
<joint name="r_finger_middle_joint_paraproximal_bar" type="revolute">
<parent link="r_finger_middle_link_paraproximal_actuating_hinge"/>
<child link="r_finger_middle_link_paraproximal_bar"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 1.57" xyz="0.02286 0 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_middle_joint_paraproximal_bar">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint median actuating hinge -->
<joint name="r_finger_middle_joint_median_actuating_hinge" type="revolute">
<parent link="r_finger_middle_link_1"/>
<child link="r_finger_middle_link_median_actuating_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 -0.37" xyz="0 0.05715 0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_middle_joint_median_actuating_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paramedian hinge -->
<joint name="r_finger_middle_joint_paramedian_hinge" type="revolute">
<parent link="r_finger_middle_link_1"/>
<child link="r_finger_middle_link_paramedian_hinge"/>
<axis xyz="0 0 1"/>
<!-- -0.37 is hand picked, 0.9719 is hand calculated from atan(0.02381/0.01625) -->
<origin rpy="0 0 0" xyz="0 0.05715 -0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_middle_joint_paramedian_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint median actuating hinge median bar -->
<joint name="r_finger_middle_joint_median_actuating_hinge_median_bar" type="revolute">
<parent link="r_finger_middle_link_median_actuating_hinge"/>
<child link="r_finger_middle_link_median_bar"/>
<axis xyz="0 0 1"/>
<!-- hand calc 90 deg + atan(0.01516/0.01625) -->
<origin rpy="0 0 2.3215" xyz="0.01625 0.01516 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_middle_joint_median_actuating_hinge_median_bar">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paradistal hinge -->
<joint name="r_finger_middle_joint_paradistal_hinge" type="revolute">
<parent link="r_finger_middle_link_2"/>
<child link="r_finger_middle_link_paradistal_hinge"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 0" xyz="0 0.039 -0.01"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_middle_joint_paradistal_hinge">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint paramedian hinge median bar underactuated -->
<joint name="r_finger_middle_joint_paramedian_hinge_median_bar_underactuated" type="revolute">
<parent link="r_finger_middle_link_paramedian_hinge"/>
<child link="r_finger_middle_link_median_bar_underactuated"/>
<axis xyz="0 0 1"/>
<!-- hand calc 90 deg + atan(0.01227/0.00329) -->
<origin rpy="0 0 1.5708" xyz="0.01227 0.00329 0"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
</joint>
<gazebo reference="r_finger_middle_joint_paramedian_hinge_median_bar_underactuated">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint 1 -->
<joint name="r_finger_middle_joint_1" type="revolute">
<origin rpy="0 0 -2.0906" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
<parent link="r_finger_middle_link_0"/>
<child link="r_finger_middle_link_1"/>
<dynamics damping="1" friction="0"/>
<!-- Limits: [0deg.,70deg.] -->
<limit effort="60" lower="0" upper="1.2217" velocity="-1"/>
</joint>
<gazebo reference="r_finger_middle_joint_1">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint 2 -->
<joint name="r_finger_middle_joint_2" type="revolute">
<parent link="r_finger_middle_link_1"/>
<child link="r_finger_middle_link_2"/>
<dynamics damping="1" friction="0"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 0" xyz="0 0.05715 0"/>
<!-- Limits: [0deg.,90deg.] -->
<limit effort="60" lower="0" upper="1.5708" velocity="-1"/>
</joint>
<gazebo reference="r_finger_middle_joint_2">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint 3 -->
<joint name="r_finger_middle_joint_3" type="revolute">
<parent link="r_finger_middle_link_2"/>
<child link="r_finger_middle_link_3"/>
<dynamics damping="1" friction="0"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 2.0906" xyz="0 0.039 0"/>
<!-- Limits: [-38deg.,60deg.] -->
<limit effort="60" lower="-0.6632" upper="1.0471" velocity="-1"/>
</joint>
<gazebo reference="r_finger_middle_joint_3">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- end of joint list -->
<!-- coupling joints in sdf -->
<gazebo>
<joint name="r_finger_middle_link_proximal_actuating_bar_median_actuating_hinge_couple" type="revolute">
<parent>r_finger_middle_link_median_actuating_hinge</parent>
<child>r_finger_middle_link_proximal_actuating_bar</child>
<pose>0.05398 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="r_finger_middle_link_proximal_actuating_bar_median_actuating_hinge_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="r_finger_middle_link_median_bar_link_3_couple" type="revolute">
<parent>r_finger_middle_link_3</parent>
<child>r_finger_middle_link_median_bar</child>
<pose>0.0381 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="r_finger_middle_link_median_bar_link_3_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="r_finger_middle_link_paramedian_bar_paradistal_hinge_couple" type="revolute">
<parent>r_finger_middle_link_paradistal_hinge</parent>
<child>r_finger_middle_link_median_bar_underactuated</child>
<pose>0.0381 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="r_finger_middle_link_median_bar_link_3_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="r_finger_middle_link_paradistal_hinge_link_3_couple" type="revolute">
<parent>r_finger_middle_link_paradistal_hinge</parent>
<child>r_finger_middle_link_3</child>
<pose>0.0381 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="r_finger_middle_link_paradistal_hinge_link_3_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo>
<joint name="r_finger_middle_link_paraproximal_bar_paramedian_hinge_couple" type="revolute">
<parent>r_finger_middle_link_paramedian_hinge</parent>
<child>r_finger_middle_link_paraproximal_bar</child>
<pose>0.05770 0 0 0 0 0</pose>
<axis>
<dynamics>
<damping>0</damping>
<friction>0</friction>
</dynamics>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
</axis>
</joint>
</gazebo>
<gazebo reference="r_finger_middle_link_paraproximal_bar_paramedian_hinge_couple">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- link list -->
<!-- Link palm -->
<link name="r_palm">
<visual>
<geometry>
<mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/palm.STL"/>
</geometry>
<material name="green">
<color rgba="0 1 0 1"/>
</material>
</visual>
<!-- Simple shape collision -->
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.1 0.1 0.1"/>
</geometry>
<material name="yellow">
<color rgba="0 1 1 1"/>
</material>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="1.3"/>
<inertia ixx="0.0035" ixy="0" ixz="-0" iyy="0.0035" iyz="0" izz="0.0035"/>
</inertial>
</link>
<gazebo reference="r_palm">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
</gazebo>
<!-- End of link list -->
<!-- Joint list -->
<!-- Joint palm_finger_1_joint -->
<joint name="r_palm_finger_1_joint" type="revolute">
<parent link="r_palm"/>
<child link="r_finger_1_link_0"/>
<dynamics damping="1" friction="0"/>
<axis xyz="0 1 0"/>
<origin rpy="0 3.1416 -1.57" xyz="-0.0455 0.0214 0.036"/>
<!-- Limits: [-17deg.,17deg.] -->
<limit effort="60" lower="-0.2967" upper="0.2967" velocity="-1"/>
</joint>
<gazebo reference="r_palm_finger_1_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint palm_finger_2_joint -->
<joint name="r_palm_finger_2_joint" type="revolute">
<parent link="r_palm"/>
<child link="r_finger_2_link_0"/>
<dynamics damping="1" friction="0"/>
<axis xyz="0 1 0"/>
<origin rpy="0 3.1416 -1.57" xyz="-0.0455 0.0214 -0.036"/>
<!-- Limits: [-17deg.,17deg.] -->
<limit effort="60" lower="-0.2967" upper="0.2967" velocity="-1"/>
</joint>
<gazebo reference="r_palm_finger_2_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- Joint palm_finger_middle_joint -->
<joint name="r_palm_finger_middle_joint" type="revolute">
<parent link="r_palm"/>
<child link="r_finger_middle_link_0"/>
<dynamics damping="1" friction="0"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 1.57" xyz="0.0455 0.0214 0"/>
<limit effort="60" lower="0" upper="0" velocity="-1"/>
</joint>
<gazebo reference="r_palm_finger_middle_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!-- end of joint list -->
<!-- Join left arm to top plate -->
<joint name="r_ur5_arm_base" type="fixed">
<parent link="dual_arm_bulkhead_link"/>
<child link="r_ur5_arm_base_link"/>
<origin rpy="0 0.785 -1.57" xyz="0.125 -0.15 0.135"/>
</joint>
<!-- Joint right arm to top plate -->
<joint name="l_ur5_arm_base" type="fixed">
<parent link="dual_arm_bulkhead_link"/>
<child link="l_ur5_arm_base_link"/>
<origin rpy="0 -0.785 -1.57" xyz="0.125 0.15 0.135"/>
</joint>
</robot>
| 35.935637 | 171 | 0.625831 |
b5d0d741c9b150daec3d35f85d21c3def36145bc | 1,773 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7249_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7249_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7249_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/724/724.stl" name="obj0" scale="0.007774295590522421 0.007774295590522421 0.007774295590522421" />
</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">
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<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
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<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
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<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
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<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
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<!--
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<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
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<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
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<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
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<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
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<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
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<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
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<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
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<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
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<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
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<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
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<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
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<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
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<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
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<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
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<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
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<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_10" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
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<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
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<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
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<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
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friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" 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0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_6" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_6" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_6" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_6" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_6" geom2="gen_geom_gadded_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_6" geom2="gen_geom_gadded_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_6" geom2="gen_geom_gadded_5" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
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<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> | 152.333333 | 23,417 | 0.692781 |
b5dd6c5abcefbd945ac0b3a141f129febd95930e | 79,313 | xml | XML | herb_reconf/cluttered_scenes/easy_pushing_006_mustard_bottle_0_0.3_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_006_mustard_bottle_0_0.3_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_006_mustard_bottle_0_0.3_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="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"/>
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<statistic center="0.2 0 0.5" extent="10.0"/>
<default>
<default class="/"/>
<default class="geom0">
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</default>
<default class="herb/">
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<default class="herb/viz">
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</default>
</default>
<default class="herb/wam/">
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<default class="herb/wam/viz">
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<default class="herb/wam/col">
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<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">
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</default>
</default>
<default class="herb/wam_1/">
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<default class="herb/wam_1/viz">
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</default>
<default class="herb/wam_1/col">
<geom conaffinity="1" condim="4" contype="1" group="0" priority="10" type="mesh"/><!-- friction="1 0.1 0.02" -->
</default>
</default>
<default class="herb/wam_1/bhand/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/bhand/col">
<geom conaffinity="1" condim="4" contype="4" friction="1 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/> <!-- -->
</default>
<default class="herb/wam_1/bhand/viz">
<geom conaffinity="0" condim="4" contype="4" friction="1 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/><!-- -->
</default>
</default>
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<material class="/" name="marble_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="marble2d"/>
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<material class="/" name="wall" texture="wall_2d"/>
<!--<mesh name="mustard" class="/" file="ycb_objects/006_mustard_bottle/google_16k/textured.msh"/>
<texture name="mustard_tex" type="2d" file="ycb_objects/006_mustard_bottle/google_16k/texture_map.png"/>
<material name="mustard_mat" class="/" texture="mustard_tex"/>-->
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
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<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/>
<!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> -->
<!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/>
<exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/>
<exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/>
<exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/>
<exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/>
<exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/>
<exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/>
<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>-->
</contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>-->
</actuator>
</mujoco> | 115.954678 | 951 | 0.685953 |
b5df52f5b08f449a5231988d999d0b321af2a1cc | 90,238 | xml | XML | herb_reconf/cluttered_scenes/easy_pushing_025_mug_4_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_025_mug_4_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_025_mug_4_0.1_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"/>
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geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>-->
</actuator>
</mujoco> | 131.926901 | 10,958 | 0.688413 |
b5dfc9cc522dd2d3c3f4013c94a33a3aac8f33bc | 80,816 | xml | XML | herb_reconf/cluttered_scenes/hard_pushing_007_tuna_fish_can_1_0.2_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/hard_pushing_007_tuna_fish_can_1_0.2_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/hard_pushing_007_tuna_fish_can_1_0.2_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="5" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/>
<size nconmax="10000" njmax="10000"/>
<visual>
<global offheight="800" offwidth="800"/>
<quality shadowsize="2048"/>
<headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/>
<map force="0.1" zfar="30.0"/>
<rgba haze="0.1499999 0.25 0.3499998 1"/>
</visual>
<statistic center="0.2 0 0.5" extent="10.0"/>
<default>
<default class="/"/>
<default class="geom0">
<geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/>
</default>
<default class="herb/">
<joint damping="1.0"/>
<default class="herb/viz">
<geom conaffinity="0" contype="0" group="1"/>
</default>
</default>
<default class="herb/wam/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
</default>
<default class="herb/wam/bhand/">
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<geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/>
<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 3.407965994535357" name="gen_body_0" pos="0 0 0.30321800005622207"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.559836367254414 0.0641986500286249 0.0265919822456967 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 2.1072487994522433" name="gen_body_gadded_1" pos="0.14520126581331502 0.0 0.3016552989341586"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.815439022738708 0.373396598247991 0.8218298040643656 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 0.5131807826801575" name="gen_body_gadded_2" pos="0.11349547454161586 -0.2847144265975371 0.31435824383258193"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.9530097709885174 0.4722738390385597 0.2993129166955566 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 1.1310100277123911" name="gen_body_gadded_3" pos="0.2334331194976349 -0.10468496782249881 0.3001968588037369"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.025896525195612696 0.6887836418609505 0.6264072193847315 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 0.7417733473648874" name="gen_body_gadded_4" pos="-0.23462152401210287 -0.207479854142309 0.3003241886189056"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.5418972081824858 0.8097304396585938 0.45233075879795637 1" type="mesh"/><joint class="/" name="gen_joint_gadded_4" type="free"/></body><body euler="0 0 0.05941772873518163" name="gen_body_gadded_5" pos="0.21749440528657832 0.5644540368557971 0.3004873431137903"><geom class="/" mesh="gen_mesh_gadded_5" name="gen_geom_gadded_5" rgba="0.9328389806170454 0.5016252754117985 0.5153751438270443 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"/>
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</actuator>
</mujoco> | 118.152047 | 1,945 | 0.688131 |
b5dfe57ea5e6fc7557a55b9f6f05cc56dee5d23d | 8,836 | xml | XML | env/models/assets/objects/shelf_ivar_0678.xml | snasiriany/furniture | 918be936c0bbf954b751a5f7e4d5c14cf0df4442 | [
"MIT"
] | 1 | 2020-07-13T21:58:28.000Z | 2020-07-13T21:58:28.000Z | env/models/assets/objects/shelf_ivar_0678.xml | snasiriany/furniture | 918be936c0bbf954b751a5f7e4d5c14cf0df4442 | [
"MIT"
] | null | null | null | env/models/assets/objects/shelf_ivar_0678.xml | snasiriany/furniture | 918be936c0bbf954b751a5f7e4d5c14cf0df4442 | [
"MIT"
] | 1 | 2021-08-03T00:01:10.000Z | 2021-08-03T00:01:10.000Z | <mujoco model="shelf_ivar_0678">
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| 98.177778 | 175 | 0.583635 |
b5e1c7d29fe502ac96ba4ee769c27aee1a870111 | 2,718 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/4087_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4087_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4087_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
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</body>
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</body>
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</mujoco> | 50.333333 | 221 | 0.656365 |
b5e35cd75a9cb2dc6371ef4a5ecb9cf67c075292 | 5,125 | xml | XML | src/garage/envs/hierarchical_rl_gym/assets/walker_v0.xml | fangqyi/garage | ddafba385ef005f46f913ab352f9638760e5b412 | [
"MIT"
] | 1 | 2021-03-02T08:43:20.000Z | 2021-03-02T08:43:20.000Z | src/garage/envs/hierarchical_rl_gym/assets/walker_v0.xml | fangqyi/garage | ddafba385ef005f46f913ab352f9638760e5b412 | [
"MIT"
] | null | null | null | src/garage/envs/hierarchical_rl_gym/assets/walker_v0.xml | fangqyi/garage | ddafba385ef005f46f913ab352f9638760e5b412 | [
"MIT"
] | null | null | null | <mujoco model="walker2d">
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b5e3e4742a8a1158eb61d6b89028b8d899c89236 | 80,311 | xml | XML | herb_reconf/cluttered_scenes/easy_pushing_035_power_drill_2_1.0_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
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<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
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<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
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<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
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<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
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<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
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<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
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<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
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<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
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<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
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<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
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<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
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<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
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<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
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<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
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<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
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<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_10" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
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<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
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<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
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<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
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<joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
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<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"/>
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<joint name="//unnamed_joint_3" class="/" type="free"/>
</body>
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<joint name="//unnamed_joint_4" class="/" type="free"/>
</body> -->
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<joint name="//unnamed_joint_5" class="/" type="free"/>
</body>-->
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</body>-->
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</body>-->
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<joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/>
</body>
<body name="target_obj" pos="0 0.0 0.325">
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</body>-->
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<geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/>
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</body>-->
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<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
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</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 1.8454206179275279" name="gen_body_0" pos="-0.05 -0.35 0.3031729999464005"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.6274147404162973 0.5645248436972039 0.647844678779554 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 3.4828182702691772" name="gen_body_gadded_1" pos="0.08747783195593664 -0.35 0.299702130147617"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.30522485550570366 0.19817022631674985 0.40252980984972364 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 4.187002396010727" name="gen_body_gadded_2" pos="0.46133457335543215 -0.37156713579346895 0.30573668401912835"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.014844811730387097 0.3465385434403535 0.4583401336122713 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 1.2499935690989277" name="gen_body_gadded_3" pos="-0.10677806824814481 -0.10103213999692362 0.30009601224760335"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.10314087814897777 0.510374321152508 0.894630965874805 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 1.914156755674629" name="gen_body_gadded_4" pos="-0.4227442883308785 -0.3551675789124159 0.3001754514276165"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.2687095855207273 0.14639504023122663 0.99527207041118 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> | 117.413743 | 1,623 | 0.687328 |
b5e436698114ab9ba436beb716bb454badd4571e | 3,568 | xml | XML | project/experiments/exp_028_arms_help/input_data/bodies/813.xml | liusida/thesis-bodies | dceb8a36efd2cefc611f6749a52b56b9d3572f7a | [
"MIT"
] | null | null | null | project/experiments/exp_028_arms_help/input_data/bodies/813.xml | liusida/thesis-bodies | dceb8a36efd2cefc611f6749a52b56b9d3572f7a | [
"MIT"
] | null | null | null | project/experiments/exp_028_arms_help/input_data/bodies/813.xml | liusida/thesis-bodies | dceb8a36efd2cefc611f6749a52b56b9d3572f7a | [
"MIT"
] | null | null | null | <!-- converted to geom fromto version -->
<mujoco model="walker2d">
<compiler angle="degree" coordinate="global" inertiafromgeom="true"/>
<default>
<joint armature="0.01" damping=".1" limited="true"/>
<geom conaffinity="0" condim="3" contype="1" density="1000" friction="0.8 .1 .1" rgba="0.8 0.6 .4 1"/>
</default>
<option integrator="RK4" timestep="0.002"/>
<worldbody>
<body name="torso" pos="0 0 1.52">
<joint armature="0" axis="1 0 0" damping="0" limited="false" name="ignorex" pos="0 0 0" stiffness="0" type="slide"/>
<joint armature="0" axis="0 0 1" damping="0" limited="false" name="ignorez" pos="0 0 0" ref="1.25" stiffness="0" type="slide"/>
<joint armature="0" axis="0 1 0" damping="0" limited="false" name="ignorey" pos="0 0 0" stiffness="0" type="hinge"/>
<geom fromto="0 0 0 0 0 -0.37" name="torso_geom" size="0.04" type="capsule"/>
<body name="arm" pos="0 0 -0.22">
<joint axis="0 -1 0" name="arm_joint" pos="0 0 0" range="-60 60" type="hinge"/>
<geom fromto="0 0 0 0 0 -0.28" name="arm_geom" size="0.02" type="capsule"/>
</body>
<body name="arm_left" pos="0 0 -0.22">
<joint axis="0 -1 0" name="arm_left_joint" pos="0 0 0" range="-60 60" type="hinge"/>
<geom fromto="0 0 0 0 0 -0.28" name="arm_left_geom" size="0.02" type="capsule"/>
</body>
<body name="thigh" pos="0 0 -0.37">
<joint axis="0 -1 0" name="thigh_joint" pos="0 0 0" range="-150 50" type="hinge"/>
<geom fromto="0 0 0 0 0 -0.49" name="thigh_geom" size="0.04" type="capsule"/>
<body name="leg" pos="0 0 -0.49">
<joint axis="0 -1 0" name="leg_joint" pos="0 0 0" range="-150 0" type="hinge"/>
<geom fromto="0 0 0 0 0 -0.48" name="leg_geom" size="0.03" type="capsule"/>
<body name="foot" pos="0 0 -0.48">
<joint axis="0 -1 0" name="foot_joint" pos="0 0 0" range="-45 45" type="hinge"/>
<geom fromto="0 0 0 0.18 0 0" name="foot_geom" size="0.06" type="capsule"/>
</body>
</body>
</body>
<body name="thigh_left" pos="0 0 -0.37">
<joint axis="0 -1 0" name="thigh_left_joint" pos="0 0 0" range="-150 50" type="hinge"/>
<geom fromto="0 0 0 0 0 -0.49" name="thigh_left_geom" rgba=".7 .3 .6 1" size="0.04" type="capsule"/>
<body name="leg_left" pos="0 0 -0.49">
<joint axis="0 -1 0" name="leg_left_joint" pos="0 0 0" range="-150 0" type="hinge"/>
<geom fromto="0 0 0 0 0 -0.48" name="leg_left_geom" rgba=".7 .3 .6 1" size="0.03" type="capsule"/>
<body name="foot_left" pos="0 0 -0.48">
<joint axis="0 -1 0" name="foot_left_joint" pos="0 0 0" range="-45 45" type="hinge"/>
<geom fromto="0 0 0 0.18 0 0" name="foot_left_geom" rgba=".7 .3 .6 1" size="0.06" type="capsule"/>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="thigh_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="leg_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="foot_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="thigh_left_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="leg_left_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="foot_left_joint"/>
</actuator>
</mujoco>
| 60.474576 | 135 | 0.56222 |
b5e63caa4c12178052619d57088835caa20bb3e0 | 1,452 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/1682_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1682_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1682_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/168/168.stl" name="obj0" scale="0.01064099782230503 0.01064099782230503 0.01064099782230503" />
</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="0.018254158239761186 0.06658959796634638 0.2231318852315276">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.210526 | 155 | 0.617769 |
b5e7eeadd693c308a09ed4cbc133fec771330b83 | 4,229 | xml | XML | fast_adaptation_embedding/env/assets/mjcf/ant.xml | resibots/kaushik_2020_famle | bbedd22a1eb6bba3cc0728fba5025b91186b6628 | [
"MIT"
] | 7 | 2020-03-11T21:59:45.000Z | 2021-11-25T07:00:24.000Z | fast_adaptation_embedding/env/assets/mjcf/ant.xml | resibots/kaushik_2020_famle | bbedd22a1eb6bba3cc0728fba5025b91186b6628 | [
"MIT"
] | null | null | null | fast_adaptation_embedding/env/assets/mjcf/ant.xml | resibots/kaushik_2020_famle | bbedd22a1eb6bba3cc0728fba5025b91186b6628 | [
"MIT"
] | 3 | 2021-08-18T10:38:49.000Z | 2021-10-04T09:48:31.000Z | <mujoco model="ant">
<compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
<option integrator="RK4" timestep="0.01"/>
<custom>
<numeric data="0.0 0.0 0.55 1.0 0.0 0.0 0.0 0.0 1.0 0.0 -1.0 0.0 -1.0 0.0 1.0" name="init_qpos"/>
</custom>
<default>
<joint armature="1" damping="1" limited="true"/>
<geom conaffinity="0" condim="3" density="5.0" friction="1.5 0.1 0.1" margin="0.01" rgba="0.8 0.6 0.4 1"/>
</default>
<worldbody>
<body name="torso" pos="0 0 0.75">
<geom name="torso_geom" pos="0 0 0" size="0.25" type="sphere"/>
<!--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 0.2 0.2 0.0" name="aux_1_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
<body name="aux_1" pos="0.2 0.2 0">
<joint axis="0 0 1" name="hip_1" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="left_leg_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
<body pos="0.2 0.2 0" name="front_left_foot">
<joint axis="-1 1 0" name="ankle_1" pos="0.0 0.0 0.0" range="30 60" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.4 0.4 0.0" name="left_ankle_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
</body>
</body>
</body>
<body name="front_right_leg" pos="0 0 0">
<geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="aux_2_geom" size="0.08" type="capsule"/>
<body name="aux_2" pos="-0.2 0.2 0">
<joint axis="0 0 1" name="hip_2" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
<geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="right_leg_geom" size="0.08" type="capsule"/>
<body pos="-0.2 0.2 0" name="front_right_foot">
<joint axis="1 1 0" name="ankle_2" pos="0.0 0.0 0.0" range="-60 -30" type="hinge"/>
<geom fromto="0.0 0.0 0.0 -0.4 0.4 0.0" name="right_ankle_geom" size="0.08" type="capsule"/>
</body>
</body>
</body>
<body name="left_back_leg" pos="0 0 0">
<geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="aux_3_geom" size="0.08" type="capsule"/>
<body name="aux_3" pos="-0.2 -0.2 0">
<joint axis="0 0 1" name="hip_3" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
<geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="back_leg_geom" size="0.08" type="capsule"/>
<body pos="-0.2 -0.2 0" name="left_back_foot">
<joint axis="-1 1 0" name="ankle_3" pos="0.0 0.0 0.0" range="-60 -30" type="hinge"/>
<geom fromto="0.0 0.0 0.0 -0.4 -0.4 0.0" name="third_ankle_geom" size="0.08" type="capsule"/>
</body>
</body>
</body>
<body name="right_back_leg" pos="0 0 0">
<geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="aux_4_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
<body name="aux_4" pos="0.2 -0.2 0">
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b5e9157fc54bc4cd3ad7866c9560f5ad6767b5d6 | 79,819 | xml | XML | herb_reconf/cluttered_scenes/easy_pushing_024_bowl_0_0.1_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
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<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
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<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
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<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
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<!--
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<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
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<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
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<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
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<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
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<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
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<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
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<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
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<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
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<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
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<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
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<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
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<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
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<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
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<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
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<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
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<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
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<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
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<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_10" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
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<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
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</body>
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<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
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<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
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<body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
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<joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>-->
</body>
<light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/>
</body>
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<geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/>
<joint name="//unnamed_joint_2" class="/" type="free"/>
</body>
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<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> -->
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<geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/>
<joint name="//unnamed_joint_5" class="/" type="free"/>
</body>-->
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<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>-->
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<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>-->
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<geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/>
<joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/>
</body>
<body name="target_obj" pos="0 0.0 0.325">
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</body>-->
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<geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_0" class="/" type="free"/>
</body>-->
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<geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/>
</body>-->
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<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>-->
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<geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/>
</body>
<body name="virt_box_3" pos="0 0.57243499223068691 0.3549998">
<geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/>
</body> -->
<body euler="0 0 5.394196435746476" name="gen_body_0" pos="-0.05 -0.35 0.30053000001935287"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.02481557790982747 0.15981077689111112 0.0728791492601093 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 4.989033208396942" name="gen_body_gadded_1" pos="0.05039737658560839 -0.35 0.2987877686535351"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.2739814030191635 0.5151284170244902 0.8953374760215349 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 6.0036952998602375" name="gen_body_gadded_2" pos="-0.20071067596551978 0.0831152418955588 0.2998467493690546"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.09214553423080363 0.6001042074603116 0.6557092343001526 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 1.8956349282056018" name="gen_body_gadded_3" pos="-0.028803033138140793 -0.8554572313454826 0.30299014353384235"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.061432966225858254 0.8902233843087393 0.6211906012143656 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body></worldbody>
<contact>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/>
<!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> -->
<!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/>
<exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/>
<exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/>
<exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/>
<exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/>
<exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/>
<exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/>
<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>-->
</contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
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b5e9fbaba704ddc507334aecf45d7b02e12e4647 | 1,772 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/8940_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
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<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="10000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="10000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="10000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>-->
</actuator>
</mujoco> | 119.722135 | 938 | 0.683136 |
b5eb62947b417744e650cb920936649e5f10633f | 15,905 | xml | XML | multiworld/envs/assets/sawyer_xyz/sawyer_xyz_base_old.xml | Neo-X/R_multiworld | 839513a48ddf2f5ae2eadc43435ac6981ddea1f4 | [
"MIT"
] | null | null | null | multiworld/envs/assets/sawyer_xyz/sawyer_xyz_base_old.xml | Neo-X/R_multiworld | 839513a48ddf2f5ae2eadc43435ac6981ddea1f4 | [
"MIT"
] | null | null | null | multiworld/envs/assets/sawyer_xyz/sawyer_xyz_base_old.xml | Neo-X/R_multiworld | 839513a48ddf2f5ae2eadc43435ac6981ddea1f4 | [
"MIT"
] | 2 | 2020-06-02T05:24:03.000Z | 2020-07-07T17:01:42.000Z | <?xml version="1.0" encoding="utf-8"?>
<!--
Usage:
<mujoco>
<compiler meshdir="../meshes/sawyer" ...></compiler>
<include file="shared_config.xml"></include>
(new stuff)
<worldbody>
<include file="sawyer_xyz_base.xml"></include>
(new stuff)
</worldbody>
</mujoco>
-->
<mujoco model="sawyer">
<!-- <camera pos="0 0 3.2" name="topview" /> -->
<!-- <camera pos="0 1.2 0.8" euler="-0.8 0 3.1415" name="topview" /> -->
<geom name="floor" type="plane" pos="0 0 -.9" size="10 10 0.5"
rgba="0 0 0 1" contype="0" conaffinity="0" />
<geom name="tableTop" type="box" pos="0 0.8 -0.5" size="0.4 0.4 0.5"
contype="1" conaffinity="1" condim="3" density="6500" friction="10 0.1 0.002" material="wood_63"/>
<!-- <geom name="tableTop" type="box" pos="0 0.8 -0.5" size="0.4 0.4 0.5"
contype="1" conaffinity="1" condim="3" density="6500" friction="10 0.1 0.002" rgba = ".6 .6 .5 1"/>
-->
<body name="base" pos="0 0 0">
<site name="basesite" pos="0 0 0" size="0.01" />
<inertial pos="0 0 0" mass="0" diaginertia="0 0 0" />
<body name="controller_box" pos="0 0 0">
<inertial pos="-0.325 0 -0.38" mass="46.64" diaginertia="1.71363 1.27988 0.809981" />
<geom size="0.11 0.2 0.265" pos="-0.325 0 -0.38" type="box" rgba="0.2 0.2 0.2 1"/>
</body>
<body name="pedestal_feet" pos="0 0 0">
<inertial pos="-0.1225 0 -0.758" mass="167.09" diaginertia="8.16095 9.59375 15.0785" />
<geom size="0.385 0.35 0.155" pos="-0.1225 0 -0.758" type="box" rgba="0.2 0.2 0.2 1"
contype="0"
conaffinity="0"
/>
</body>
<body name="torso" pos="0 0 0">
<inertial pos="0 0 0" mass="0.0001" diaginertia="1e-08 1e-08 1e-08" />
<geom size="0.05 0.05 0.05" type="box" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" />
</body>
<body name="pedestal" pos="0 0 0">
<inertial pos="0 0 0" quat="0.659267 -0.259505 -0.260945 0.655692" mass="60.864" diaginertia="6.0869 5.81635 4.20915" />
<geom pos="0.26 0.345 -0.91488" quat="0.5 0.5 -0.5 -0.5" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="pedestal" />
<geom size="0.18 0.31" pos="-0.02 0 -0.29" type="cylinder" rgba="0.2 0.2 0.2 0" />
</body>
<body name="right_arm_base_link" pos="0 0 0">
<inertial pos="-0.0006241 -2.8025e-05 0.065404" quat="-0.209285 0.674441 0.227335 0.670558" mass="2.0687" diaginertia="0.00740351 0.00681776 0.00672942" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.5 0.1 0.1 1" mesh="base" />
<geom size="0.08 0.12" pos="0 0 0.12" type="cylinder" rgba="0.5 0.1 0.1 0" />
<body name="right_l0" pos="0 0 0.08">
<inertial pos="0.024366 0.010969 0.14363" quat="0.894823 0.00899958 -0.170275 0.412573" mass="5.3213" diaginertia="0.0651588 0.0510944 0.0186218" />
<joint name="right_j0" pos="0 0 0" axis="0 0 1" limited="true" range="-3.0503 3.0503" damping="10"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.5 0.1 0.1 1" mesh="l0" />
<geom size="0.07" pos="0.08 0 0.23" rgba="0.5 0.1 0.1 0" />
<body name="head" pos="0 0 0.2965">
<inertial pos="0.0053207 -2.6549e-05 0.1021" quat="0.999993 7.08405e-05 -0.00359857 -0.000626247" mass="1.5795" diaginertia="0.0118334 0.00827089 0.00496574" />
<!-- <joint name="head_pan" pos="0 0 0" axis="0 0 1" limited="true" range="-5.0952 0.9064" damping="10"/> -->
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.5 0.1 0.1 1" mesh="head" />
<geom size="0.18" pos="0 0 0.08" rgba="0.5 0.1 0.1 0" />
<body name="screen" pos="0.03 0 0.105" quat="0.5 0.5 0.5 0.5">
<inertial pos="0 0 0" mass="0.0001" diaginertia="1e-08 1e-08 1e-08" />
<geom size="0.12 0.07 0.001" type="box" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 0" />
<geom size="0.001" rgba="0.2 0.2 0.2 0" />
</body>
<body name="head_camera" pos="0.0228027 0 0.216572" quat="0.342813 -0.618449 0.618449 -0.342813">
<inertial pos="0.0228027 0 0.216572" quat="0.342813 -0.618449 0.618449 -0.342813" mass="0" diaginertia="0 0 0" />
<site name="headsite" pos="0 0 0" size="0.01" />
</body>
</body>
<body name="right_torso_itb" pos="-0.055 0 0.22" quat="0.707107 0 -0.707107 0">
<inertial pos="0 0 0" mass="0.0001" diaginertia="1e-08 1e-08 1e-08" />
</body>
<body name="right_l1" pos="0.081 0.05 0.237" quat="0.5 -0.5 0.5 0.5">
<inertial pos="-0.0030849 -0.026811 0.092521" quat="0.424888 0.891987 0.132364 -0.0794296" mass="4.505" diaginertia="0.0224339 0.0221624 0.0097097" />
<!--<joint name="right_j1" pos="0 0 0" axis="0 0 1" limited="true" range="-3.8095 2.2736" damping="10"/>-->
<joint name="right_j1" pos="0 0 0" axis="0 0 1"
limited="true" range="-3.8 -0.5"
damping="10"/>
<!--<joint name="right_j1" pos="0 0 0" axis="0 0 1" limited="true" range="0.8095 2.2736" damping="10"/>-->
<geom type="mesh" contype="1" conaffinity="1" group="1" rgba="0.5 0.1 0.1 1" mesh="l1" />
<geom size="0.07" pos="0 0 0.1225" rgba="0.5 0.1 0.1 0" />
<body name="right_l2" pos="0 -0.14 0.1425" quat="0.707107 0.707107 0 0">
<inertial pos="-0.00016044 -0.014967 0.13582" quat="0.707831 -0.0524761 0.0516007 0.702537" mass="1.745" diaginertia="0.0257928 0.025506 0.00292515" />
<joint name="right_j2" pos="0 0 0" axis="0 0 1" limited="true" range="-3.0426 3.0426" damping="10"/>
<geom type="mesh" contype="1" conaffinity="1" group="1" rgba="0.5 0.1 0.1 1" mesh="l2" />
<geom size="0.06 0.17" pos="0 0 0.08" type="cylinder" rgba="0.5 0.1 0.1 0" />
<body name="right_l3" pos="0 -0.042 0.26" quat="0.707107 -0.707107 0 0">
<site name="armsite" pos="0 0 0" size="0.01" />
<inertial pos="-0.0048135 -0.0281 -0.084154" quat="0.902999 0.385391 -0.0880901 0.168247" mass="2.5097" diaginertia="0.0102404 0.0096997 0.00369622" />
<joint name="right_j3" pos="0 0 0" axis="0 0 1" limited="true" range="-3.0439 3.0439" damping="10"/>
<geom type="mesh" contype="1" conaffinity="1" group="1" rgba="0.5 0.1 0.1 1" mesh="l3" />
<geom size="0.06" pos="0 -0.01 -0.12" rgba="0.5 0.1 0.1 0" />
<body name="right_l4" pos="0 -0.125 -0.1265" quat="0.707107 0.707107 0 0">
<inertial pos="-0.0018844 0.0069001 0.1341" quat="0.803612 0.031257 -0.0298334 0.593582" mass="1.1136" diaginertia="0.0136549 0.0135493 0.00127353" />
<joint name="right_j4" pos="0 0 0" axis="0 0 1" limited="true" range="-2.9761 2.9761" damping="10" />
<geom type="mesh" contype="1" conaffinity="1" group="1" rgba="0.5 0.1 0.1 1" mesh="l4" />
<geom size="0.045 0.15" pos="0 0 0.11" type="cylinder" rgba="0.5 0.1 0.1 0" />
<body name="right_arm_itb" pos="-0.055 0 0.075" quat="0.707107 0 -0.707107 0">
<inertial pos="0 0 0" mass="0.0001" diaginertia="1e-08 1e-08 1e-08" />
</body>
<body name="right_l5" pos="0 0.031 0.275" quat="0.707107 -0.707107 0 0">
<inertial pos="0.0061133 -0.023697 0.076416" quat="0.404076 0.9135 0.0473125 0.00158335" mass="1.5625" diaginertia="0.00474131 0.00422857 0.00190672" />
<joint name="right_j5" pos="0 0 0" axis="0 0 1" limited="true" range="-2.9761 2.9761" damping="10"/>
<geom type="mesh" contype="1" conaffinity="1" group="1" rgba="0.5 0.1 0.1 1" mesh="l5" />
<geom size="0.06" pos="0 0 0.1" rgba="0.5 0.1 0.1 0" />
<body name="right_hand_camera" pos="0.039552 -0.033 0.0695" quat="0.707107 0 0.707107 0">
<inertial pos="0.039552 -0.033 0.0695" quat="0.707107 0 0.707107 0" mass="0" diaginertia="0 0 0" />
</body>
<body name="right_wrist" pos="0 0 0.10541" quat="0.707107 0.707107 0 0">
<inertial pos="0 0 0.10541" quat="0.707107 0.707107 0 0" mass="0" diaginertia="0 0 0" />
</body>
<body name="right_l6" pos="0 -0.11 0.1053" quat="0.0616248 0.06163 -0.704416 0.704416">
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<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
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solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_4" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="10000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="10000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="10000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="10000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
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<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> | 121.306122 | 1,604 | 0.684672 |
b5fba07e90e677e021175b06fa0ad933ce51f813 | 81,348 | xml | XML | herb_reconf/cluttered_scenes/easy_pushing_017_orange_0_0.2_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_017_orange_0_0.2_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_017_orange_0_0.2_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
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<default class="herb/wam/bhand/viz">
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<default class="herb/wam_1/">
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<default class="herb/wam_1/viz">
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<default class="herb/wam_1/col">
<geom conaffinity="1" condim="4" contype="1" group="0" priority="10" type="mesh"/><!-- friction="1 0.1 0.02" -->
</default>
</default>
<default class="herb/wam_1/bhand/">
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<default class="herb/wam_1/bhand/col">
<geom conaffinity="1" condim="4" contype="4" friction="1 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/> <!-- -->
</default>
<default class="herb/wam_1/bhand/viz">
<geom conaffinity="0" condim="4" contype="4" friction="1 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/><!-- -->
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<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> | 118.929825 | 2,301 | 0.688855 |
b5fc7c10b5f748926fa69930c288ebcb2f1e4ee8 | 2,719 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7484_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7484_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7484_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/748/748.stl" name="obj0" scale="0.005894859144919733 0.005894859144919733 0.005894859144919733" />
</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" />
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