hexsha
stringlengths 40
40
| size
int64 77
872k
| ext
stringclasses 3
values | lang
stringclasses 1
value | max_stars_repo_path
stringlengths 7
140
| max_stars_repo_name
stringclasses 719
values | max_stars_repo_head_hexsha
stringclasses 719
values | max_stars_repo_licenses
sequencelengths 1
4
| max_stars_count
int64 1
82.5k
⌀ | max_stars_repo_stars_event_min_datetime
stringclasses 403
values | max_stars_repo_stars_event_max_datetime
stringclasses 403
values | max_issues_repo_path
stringlengths 7
140
| max_issues_repo_name
stringclasses 719
values | max_issues_repo_head_hexsha
stringclasses 719
values | max_issues_repo_licenses
sequencelengths 1
4
| max_issues_count
int64 1
9.02k
⌀ | max_issues_repo_issues_event_min_datetime
stringclasses 213
values | max_issues_repo_issues_event_max_datetime
stringclasses 213
values | max_forks_repo_path
stringlengths 7
140
| max_forks_repo_name
stringclasses 721
values | max_forks_repo_head_hexsha
stringclasses 721
values | max_forks_repo_licenses
sequencelengths 1
4
| max_forks_count
int64 1
54.3k
⌀ | max_forks_repo_forks_event_min_datetime
stringclasses 319
values | max_forks_repo_forks_event_max_datetime
stringclasses 319
values | content
stringlengths 77
872k
| avg_line_length
float64 14.5
8.75k
| max_line_length
int64 33
198k
| alphanum_fraction
float64 0.12
0.83
|
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
e27c05594f3e728304809047aa7ed51a3bbba8bd | 2,722 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/4938_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4938_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4938_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/493/493.stl" name="obj0" scale="0.00658720249826242 0.00658720249826242 0.00658720249826242" />
</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="0.017290108879046695 0.04 0.020025247100375215" zaxis="1.0 0.0 0.0">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="1.0 0.0 0.0" />
<geom condim="3" mass="2" material="block_mat" pos="-0.005847707424872451 -0.0010150509504104194 0.03637126302744737" size="0.012236164613546418 0.016136954790055762 0.05368303494975081" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="4.757678706770582e-05 -0.00036005399231442355 -2.1663043256741243e-05" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.005847707424872451 -0.0010150509504104194 0.02637126302744737" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.407407 | 223 | 0.656135 |
e27cde48e627e82e79ceda6f2b4258808c98387f | 1,775 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/2986_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2986_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2986_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/298/298.stl" name="obj0" scale="0.0032083038052280206 0.0032083038052280206 0.0032083038052280206" />
</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="0.020182850514941217 0.020331155962489786 0.018896630290361986">
<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="0.005110323574580381 -0.003114117340089298 -0.0029866386733086786" rgba="1 0 0 0" size="0.010091425257470608 0.010165577981244893 0.009448315145180993" 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> | 43.292683 | 200 | 0.671549 |
e27ce7397c6017c97c6906e934142e9f4ccc52c9 | 2,712 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/4245_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4245_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4245_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/424/424.stl" name="obj0" scale="0.004813273274913834 0.004813273274913834 0.004813273274913834" />
</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="0.03245191870910899 0.04 0.01859684660808031" 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="0.010057068868652746 -0.006999275490029735 0.04066233613353088" size="0.028478421429377045 0.01768467034543597 0.05916666984549349" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="0.008499031270541496 0.005921519067976864 9.251289611769833e-05" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.010057068868652746 -0.006999275490029735 0.03066233613353088" 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> | 50.222222 | 220 | 0.656711 |
e27fc88f4e56045b7f0898e9245f4c0a09ab66cc | 1,380 | xml | XML | rlberry/envs/bullet3/data/mjcf/pendulum.xml | riccardodv/rlberry | 8bb03772cda1e13c57de0e1da7bc7356a3014cfb | [
"MIT"
] | 86 | 2020-11-20T21:02:27.000Z | 2022-03-07T14:57:40.000Z | rlberry/envs/bullet3/data/mjcf/pendulum.xml | riccardodv/rlberry | 8bb03772cda1e13c57de0e1da7bc7356a3014cfb | [
"MIT"
] | 103 | 2020-11-17T12:31:21.000Z | 2022-03-28T13:46:16.000Z | rlberry/envs/bullet3/data/mjcf/pendulum.xml | riccardodv/rlberry | 8bb03772cda1e13c57de0e1da7bc7356a3014cfb | [
"MIT"
] | 20 | 2020-11-23T01:47:50.000Z | 2022-03-25T07:45:24.000Z | <mujoco model="pendulum">
<compiler inertiafromgeom="true"/>
<default>
<joint armature="0" damping="1" limited="true"/>
<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
<tendon/>
<motor ctrlrange="-3 3"/>
</default>
<option gravity="0 0 -9.81" integrator="RK4" timestep="0.02"/>
<size nstack="3000"/>
<worldbody>
<body name="pole" pos="0 0 0">
<joint axis="0 1 0" name="hinge" pos="0 0 0" damping="0" limited="false" range="-90 90" type="hinge"/>
<geom fromto="0 0 0 0.001 0 0.5" name="cpole" rgba="0 0.7 0.7 1" size="0.049 0.3" type="capsule"/>
</body>
</worldbody>
<!-- <worldbody>-->
<!-- <body name="pole" pos="0 0 .6">-->
<!-- <joint axis="0 1 0" name="hinge" pos="0 0 0" limited="false" range="-90 90" type="hinge" damping="0.1"/>-->
<!-- <geom name="base" material="decoration" type="cylinder" fromto="0 -.03 0 0 .03 0" size="0.021" mass="0"/>-->
<!-- <geom name="cpole" material="self" type="capsule" fromto="0 0 0 0 0 0.5" size="0.02" mass="0"/>-->
<!-- <geom name="mass" material="effector" type="sphere" pos="0 0 0.5" size="0.05" mass="1"/>-->
<!-- </body>-->
<!-- </worldbody>-->
<actuator>
<motor name="torque" joint="hinge" gear="1" ctrlrange="-1 1" ctrllimited="true"/>
</actuator>
</mujoco>
| 47.586207 | 120 | 0.537681 |
e280a83d567ae854ec49af29777304feacc6fbaf | 1,448 | xml | XML | envs/mujoco/envs/assets/single_peg_hole/full_peg_insertion_experiment_no_gravity_moving_hole_id=077.xml | hzm2016/assistive-gym-robosuite | 5c529f4444cc386383618bfa584341740a8468f9 | [
"MIT"
] | 1 | 2021-11-22T07:45:28.000Z | 2021-11-22T07:45:28.000Z | envs/mujoco/envs/assets/single_peg_hole/full_peg_insertion_experiment_no_gravity_moving_hole_id=077.xml | hzm2016/assistive-gym-robosuite | 5c529f4444cc386383618bfa584341740a8468f9 | [
"MIT"
] | null | null | null | envs/mujoco/envs/assets/single_peg_hole/full_peg_insertion_experiment_no_gravity_moving_hole_id=077.xml | hzm2016/assistive-gym-robosuite | 5c529f4444cc386383618bfa584341740a8468f9 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="disable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
<geom contype="1" conaffinity="1" friction=".2 0.005 0.0001"/>
</default>
<site rgba="1 0 0 .5"/>
</default>
<asset>
<include file="kuka/kuka_assets.xml"/>
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1" width="256" height="256"/>
</asset>
<worldbody>
<light pos="0 0 1000" castshadow="false"/>
<geom class="collision" type="plane" size="10 10 1" rgba=".8 .8 .8 1"/>
<body name="kuka_table" pos="0 0 1">
<geom class="collision" type="box" size=".5 .5 .5" pos="0 0 -.5"/>
<body name="kuka_base" pos=".2 0 0">
<include file="kuka/kuka_mesh_collision_peg_ee.xml"/>
</body>
</body>
<body pos=".85 0 1.3" mocap="true">
<include file="hole/polyhedral_hole_inner=0-007016_outer=0-10_height=0-05_num_facets=16_id=077.xml"/>
</body>
</worldbody>
<actuator>
<include file="kuka/kuka_actuators.xml"/>
</actuator>
<sensor>
<include file="peg/peg_sensors.xml"/>
</sensor>
</mujoco>
| 30.166667 | 113 | 0.543508 |
e280b6c2224091f10b165b4fed1bf7135ba6d0db | 79,306 | xml | XML | herb_reconf/cluttered_scenes/easy_pushing_017_orange_1_0.7_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_017_orange_1_0.7_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_017_orange_1_0.7_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="5" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/>
<size nconmax="10000" njmax="10000"/>
<visual>
<global offheight="800" offwidth="800"/>
<quality shadowsize="2048"/>
<headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/>
<map force="0.1" zfar="30.0"/>
<rgba haze="0.1499999 0.25 0.3499998 1"/>
</visual>
<statistic center="0.2 0 0.5" extent="10.0"/>
<default>
<default class="/"/>
<default class="geom0">
<geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/>
</default>
<default class="herb/">
<joint damping="1.0"/>
<default class="herb/viz">
<geom conaffinity="0" contype="0" group="1"/>
</default>
</default>
<default class="herb/wam/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
</default>
<default class="herb/wam/bhand/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/bhand/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
<default class="herb/wam/bhand/viz">
<geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam_1/col">
<geom conaffinity="1" condim="4" contype="1" group="0" priority="10" type="mesh"/><!-- friction="1 0.1 0.02" -->
</default>
</default>
<default class="herb/wam_1/bhand/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/bhand/col">
<geom conaffinity="1" condim="4" contype="4" friction="1 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/> <!-- -->
</default>
<default class="herb/wam_1/bhand/viz">
<geom conaffinity="0" condim="4" contype="4" friction="1 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/><!-- -->
</default>
</default>
</default>
<asset>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concrete_2d" type="2d"/>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concretecube" type="cube"/>
<material class="/" name="concrete_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concrete_2d"/>
<material class="/" name="concretecube" rgba="0.8 0.8 0.8 1" texture="concretecube"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marble2d" type="2d"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marblecube" type="cube"/>
<material class="/" name="marble_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="marble2d"/>
<material class="/" name="marblecube" rgba="0.8 0.8 0.8 1" texture="marblecube"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplain_2d" type="2d"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplaincube" type="cube"/>
<material class="/" name="concreteplain_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concreteplain_2d"/>
<material class="/" name="concreteplaincube" rgba="0.8 0.8 0.8 1" texture="concreteplaincube"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="wood2d" type="2d"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<!--<mesh name="mustard" class="/" file="ycb_objects/006_mustard_bottle/google_16k/textured.msh"/>
<texture name="mustard_tex" type="2d" file="ycb_objects/006_mustard_bottle/google_16k/texture_map.png"/>
<material name="mustard_mat" class="/" texture="mustard_tex"/>-->
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="ycb_objects/017_orange/google_16k/nontextured.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/015_peach/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="1.9696576774096857 1.9696576774096857 1.9696576774096857"/><mesh class="geom0" file="ycb_objects/002_master_chef_can/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="1.8912782109785717 1.8912782109785717 1.8912782109785717"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="2 -1.5 2" target="table"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="cam_target"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" friction="0.67 0.005 0.0001" name="table_plane" pos="0 0 0.3" priority="20" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.5 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="-.2 -0.2 0.29">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_8" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_10" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>-->
</body>
<light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/>
</body>
<!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998">
<geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/>
<joint name="//unnamed_joint_2" class="/" type="free"/>
</body>
<body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998">
<geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/>
<joint name="//unnamed_joint_3" class="/" type="free"/>
</body>
<body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998">
<geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/>
<joint name="//unnamed_joint_4" class="/" type="free"/>
</body> -->
<!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/>
<joint name="//unnamed_joint_5" class="/" type="free"/>
</body>-->
<!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998">
<geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/>
<joint name="//unnamed_joint_6" class="/" type="free"/>
</body>-->
<!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325">
<geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/>
<joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/>
</body>
<body name="target_obj" pos="0 0.0 0.325">
<geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/>
</body>-->
<!--<body name="gen_body_0" pos="0 0.0 0.3549998">
<geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_0" class="/" type="free"/>
</body>-->
<!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998">
<geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/>
</body>-->
<!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!-- <body name="virt_box_2" pos="0 .45 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/>
</body>
<body name="virt_box_3" pos="0 0.57243499223068691 0.3549998">
<geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/>
</body> -->
<body euler="0 0 3.658157134632638" name="gen_body_0" pos="-0.05 -0.35 0.30024799999664536"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.08832997804649567 0.7314229951601742 0.6502034348603298 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 3.7182205092616645" name="gen_body_gadded_1" pos="0.024835807227342552 -0.35 0.30081607026883805"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.35834041252761784 0.18685071666898023 0.256616111266069 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 5.488095387615247" name="gen_body_gadded_2" pos="-0.1902140256059466 -0.461172617668413 0.29982454191329544"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.08992954793016794 0.953471890755967 0.5992833124909428 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body></worldbody>
<contact>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/>
<!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> -->
<!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/>
<exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/>
<exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/>
<exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/>
<exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/>
<exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/>
<exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/>
<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>-->
</contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>-->
</actuator>
</mujoco> | 115.944444 | 952 | 0.685913 |
e280db9d27cdb07f6ab7cca38993e7d9380ee7b7 | 1,773 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/1774_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1774_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1774_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/177/177.stl" name="obj0" scale="0.007417692395048891 0.007417692395048891 0.007417692395048891" />
</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="0.024357928996858142 0.06931257188474094 0.035655953511066416">
<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="-0.0032719898565936904 -0.034061848460785464 -0.00018125261159361626" rgba="1 0 0 0" size="0.012178964498429071 0.03465628594237047 0.017827976755533208" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.243902 | 202 | 0.670615 |
e283389bf590f856132ff61a345f7f96484810df | 76,260 | xml | XML | herb_reconf/cluttered_scenes/grasping_lamp_4_2_0.8_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/grasping_lamp_4_2_0.8_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/grasping_lamp_4_2_0.8_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="10" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/>
<size nconmax="10000" njmax="10000"/>
<visual>
<global offheight="800" offwidth="800"/>
<quality shadowsize="2048"/>
<headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/>
<map force="0.1" zfar="30.0"/>
<rgba haze="0.1499999 0.25 0.3499998 1"/>
</visual>
<statistic center="0.2 0 0.5" extent="10.0"/>
<default>
<default class="/"/>
<default class="geom0">
<geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/>
</default>
<default class="herb/">
<joint damping="1.0"/>
<default class="herb/viz">
<geom conaffinity="0" contype="0" group="1"/>
</default>
</default>
<default class="herb/wam/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
</default>
<default class="herb/wam/bhand/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/bhand/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
<default class="herb/wam/bhand/viz">
<geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam_1/col">
<geom conaffinity="1" condim="4" contype="1" friction="2 0.1 0.02" group="0" priority="10" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/bhand/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/bhand/col">
<geom conaffinity="1" condim="4" contype="4" friction="2 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/>
</default>
<default class="herb/wam_1/bhand/viz">
<geom conaffinity="0" condim="4" contype="4" friction="2 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/>
</default>
</default>
</default>
<asset>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concrete_2d" type="2d"/>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concretecube" type="cube"/>
<material class="/" name="concrete_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concrete_2d"/>
<material class="/" name="concretecube" rgba="0.8 0.8 0.8 1" texture="concretecube"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marble2d" type="2d"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marblecube" type="cube"/>
<material class="/" name="marble_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="marble2d"/>
<material class="/" name="marblecube" rgba="0.8 0.8 0.8 1" texture="marblecube"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplain_2d" type="2d"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplaincube" type="cube"/>
<material class="/" name="concreteplain_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concreteplain_2d"/>
<material class="/" name="concreteplaincube" rgba="0.8 0.8 0.8 1" texture="concreteplaincube"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="wood2d" type="2d"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="downloaded_assets/lamp_4/scene.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/036_wood_block/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="0.9222356818714686 0.9222356818714686 0.9222356818714686"/><mesh class="geom0" file="ycb_objects/061_foam_brick/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="1.4067077182186773 1.4067077182186773 1.4067077182186773"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="cam_target"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="table"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" name="table_plane" pos="0 0 0.3" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.6999996 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="0 0 0.45">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_8" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_10" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>-->
</body>
<light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/>
</body>
<!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998">
<geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/>
<joint name="//unnamed_joint_2" class="/" type="free"/>
</body>
<body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998">
<geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/>
<joint name="//unnamed_joint_3" class="/" type="free"/>
</body>
<body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998">
<geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/>
<joint name="//unnamed_joint_4" class="/" type="free"/>
</body> -->
<!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/>
<joint name="//unnamed_joint_5" class="/" type="free"/>
</body>-->
<!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998">
<geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/>
<joint name="//unnamed_joint_6" class="/" type="free"/>
</body>-->
<!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325">
<geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/>
<joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/>
</body>
<body name="target_obj" pos="0 0.0 0.325">
<geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/>
</body>-->
<!--<body name="gen_body_0" pos="0 0.0 0.3549998" euler="0 0 0.5">
<geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_0" class="/" type="free"/>
</body>
<body name="box_0" pos="0.175 0.0 0.3725">
<geom name="box_geom_0" class="/" type="box" group="1" size="0.055 0.055 0.065" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="target_obj" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_15" class="geom0" type="box" contype="0" conaffinity="0" group="1" size="0.055 0.055 0.055" rgba="0 0 0 0.1666"/>
</body>-->
<!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!-- <body name="virt_box_2" pos="0 .45 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/>
</body>
<body name="virt_box_3" pos="0 0.57243499223068691 0.3549998">
<geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/>
</body> -->
<body euler="0 0 0.4158891863294933" name="gen_body_0" pos="0 0 0.5317436635494233"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.25831827063780444 0.1324453497043211 0.48473418786800515 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 4.463668173090977" name="gen_body_gadded_1" pos="0.10086837062408398 0.0 0.30019770933426776"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.6075032944785608 0.4369086786364462 0.90994011320403 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 5.34176728198669" name="gen_body_gadded_2" pos="0.23096786845320014 0.0068216004685232095 0.30167723662132484"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.3468064922205062 0.8319242137636502 0.8564282211690145 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> | 119.717425 | 940 | 0.683124 |
e284edf627ac514b5ab8062c9be6e1364b0c5f65 | 1,454 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/189_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/189_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/189_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/018/018.stl" name="obj0" scale="0.007212804710161464 0.007212804710161464 0.007212804710161464" />
</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="0.03434784846849741 0.05823683798866994 0.2187546338280959">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.263158 | 155 | 0.618294 |
e285ae087ff781ed92fbfc7df41e34ee8e7c99fe | 13,519 | xml | XML | data/Tower3d/towerwave.xml | rwang0417/d2c_mujoco200 | 84609fbb14dc38dadf35193d0c7c4431e6f22913 | [
"MIT"
] | 2 | 2020-02-24T00:15:39.000Z | 2020-09-02T03:20:46.000Z | data/Tower3d/towerwave.xml | rwang0417/d2c_mujoco200 | 84609fbb14dc38dadf35193d0c7c4431e6f22913 | [
"MIT"
] | null | null | null | data/Tower3d/towerwave.xml | rwang0417/d2c_mujoco200 | 84609fbb14dc38dadf35193d0c7c4431e6f22913 | [
"MIT"
] | 3 | 2019-08-05T20:21:04.000Z | 2020-09-02T03:20:49.000Z | <mujoco model="t1d1_3d">
<include file="./common/visual.xml"/>
<include file="./common/skybox.xml"/>
<include file="./common/materials.xml"/>
<option timestep="0.01" iterations="50" integrator="RK4" solver="Newton" tolerance="1e-10" gravity="0 0 0" collision="predefined" viscosity="0.0"/>
<size njmax="500" nconmax="200" nstack="5000"/>
<visual>
<rgba haze=".15 .25 .35 1"/>
</visual>
<default>
<joint type="hinge" pos="0 0 0" limited="false" range="-180 180" damping="0.2"/>
<motor ctrllimited="false" ctrlrange="-1 1" gear="1"/>
<tendon stiffness="0" damping="0.2" width="0.01"/>
<geom material="self"/>
<site size="0.1"/>
</default>
<worldbody>
<light directional="true" diffuse=".8 .8 .8" specular=".2 .2 .2" pos="0 0 5" dir="0 0 -1"/>
<site name="f0" pos="0 0 0" size="0.01"/>
<body pos="0 0 0">
<geom type="sphere" mass="1e-6" size="0.06"/>
<joint name="s1" type="slide" axis="1 0 0" limited="true" range="-3. 3." solreflimit=".08 1" damping="5e-4"/>
<joint name="s2" type="slide" axis="0 1 0" limited="true" range="-3. 3." solreflimit=".08 1" damping="5e-4"/>
<joint name="s3" type="slide" axis="0 0 1" limited="true" range="-3. 3." solreflimit=".08 1" damping="5e-4"/>
<body pos="0 0 0">
<geom name="lbar1" type="capsule" fromto="0 0 0 -1.057961884250790 1.832443735993672 12" mass="42.2642422330568" size="0.0271300805993088"/>
<site name="lb1e" pos="-1.057961884250790 1.832443735993672 12"/>
<joint name="lj1" axis="0 0 1"/>
<joint axis="1.832443735993672 1.057961884250790 0"/>
<body name="lbar2" pos="-1.057961884250790 1.832443735993672 12">
<geom name="lbar2" type="capsule" fromto="0 0 0 1.057961884250790 -1.832443735993672 12" mass="42.2638605396005" size="0.0271299580915213"/>
<joint name="lj2" axis="1.832443735993672 1.057961884250790 0"/>
<site name="lb2e" pos="1.057961884250790 -1.832443735993672 12"/>
<body pos="1.057961884250790 -1.832443735993672 12">
<geom name="lbar3" type="capsule" fromto="0 0 0 -4.367642811194428 7.564979258301711 0" mass="8.72587633150034" size="0.0145594646386997"/>
<joint name="lj3" axis="0 0 1"/>
<joint axis="1.832443735993672 1.057961884250790 0"/>
<site name="lb3e" pos="-4.367642811194428 7.564979258301711 0"/>
</body>
<body pos="1.057961884250790 -1.832443735993672 12">
<geom name="lbar4" type="capsule" fromto="0 0 0 -1.057961884250790 1.832443735993672 12" mass="42.2634598276698" size="0.0271298294789962"/>
<joint name="lj4" axis="0 0 1"/>
<joint axis="1.832443735993672 1.057961884250790 0"/>
<site name="lb4e" pos="-1.057961884250790 1.832443735993672 12"/>
<body name="lbar5" pos="-1.057961884250790 1.832443735993672 12">
<geom name="lbar5" type="capsule" fromto="0 0 0 1.057961884250790 -1.832443735993672 12" mass="42.263078141279" size="0.0271297069723425"/>
<joint name="lj5" axis="1.832443735993672 1.057961884250790 0"/>
<site name="lb5e" pos="1.057961884250790 -1.832443735993672 12"/>
</body>
</body>
<body pos="1.057961884250790 -1.832443735993672 12">
<geom name="mbar3" type="capsule" fromto="0 0 0 -4.367642811194428 -7.564979258301711 0" mass="8.72587633150034" size="0.0145594646386997"/>
<joint name="mj3" axis="0 0 1"/>
<joint axis="7.564979258301711 -4.367642811194428 0"/>
<site name="mb3e" pos="-4.367642811194428 -7.564979258301711 0"/>
</body>
<body pos="1.057961884250790 -1.832443735993672 12">
<geom name="rbar3" type="capsule" fromto="0 0 0 8.735285622388856 0 0" mass="8.72587633150034" size="0.0145594646386997"/>
<joint name="rj3" axis="0 0 1"/>
<joint axis="0 1 0"/>
<site name="rb3e" pos="8.735285622388856 0 0"/>
</body>
</body>
</body>
<body pos="0 0 0">
<geom name="mbar1" type="capsule" fromto="0 0 0 -1.057961884250790 -1.832443735993672 12" mass="42.2642422330568" size="0.0271300805993089"/>
<site name="mb1e" pos="-1.057961884250790 -1.832443735993672 12"/>
<joint axis="0 0 1"/>
<joint name="mj1" axis="1.832443735993672 -1.057961884250790 0"/>
<body name="mbar2" pos="-1.057961884250790 -1.832443735993672 12">
<geom name="mbar2" type="capsule" fromto="0 0 0 1.057961884250790 1.832443735993672 12" mass="42.2638605396005" size="0.0271299580915214"/>
<joint name="mj2" axis="1.832443735993672 -1.057961884250790 0"/>
<body pos="1.057961884250790 1.832443735993672 12">
<geom name="mbar4" type="capsule" fromto="0 0 0 -1.057961884250790 -1.832443735993672 12" mass="42.2634598276698" size="0.0271298294789962"/>
<joint axis="0 0 1"/>
<joint name="mj4" axis="1.832443735993672 -1.057961884250790 0"/>
<site name="mb4e" pos="-1.057961884250790 -1.832443735993672 12"/>
<body name="mbar5" pos="-1.057961884250790 -1.832443735993672 12">
<geom name="mbar5" type="capsule" fromto="0 0 0 1.057961884250790 1.832443735993672 12" mass="42.263078141279" size="0.0271297069723425"/>
<joint name="mj5" axis="1.832443735993672 -1.057961884250790 0"/>
</body>
</body>
</body>
</body>
<body pos="0 0 0">
<geom name="rbar1" type="capsule" fromto="0 0 0 2.115923768501580 0 12" mass="42.2642422330568" size="0.0271300805993089"/>
<site name="rb1e" pos="2.115923768501580 0 12"/>
<joint axis="0 0 1"/>
<joint name="rj1" axis="0 1 0"/>
<body name="rbar2" pos="2.115923768501580 0 12">
<geom name="rbar2" type="capsule" fromto="0 0 0 -2.115923768501580 0 12" mass="42.2638605396005" size="0.0271299580915214"/>
<joint name="rj2" axis="0 1 0"/>
<body pos="-2.115923768501580 0 12">
<geom name="rbar4" type="capsule" fromto="0 0 0 2.115923768501580 0 12" mass="42.2634598276698" size="0.0271298294789962"/>
<joint axis="0 0 1"/>
<joint name="rj4" axis="0 1 0"/>
<site name="rb4e" pos="2.115923768501580 0 12"/>
<body name="rbar5" pos="2.115923768501580 0 12">
<geom name="rbar5" type="capsule" fromto="0 0 0 -2.115923768501580 0 12" mass="42.263078141279" size="0.0271297069723425"/>
<joint name="rj5" axis="0 1 0"/>
</body>
</body>
</body>
</body>
</body>
<body pos="0 0 0">
<geom name="floor" pos="0 0 0" size="0 0 1" type="plane" material="grid"/>
<body pos="-8.735285622388856 15.129958516603422 0">
<geom type="sphere" mass="1e-6" size="0.06"/>
<site name="fl" pos="0 0 0"/>
<joint name="s4" type="slide" axis="1 0 0" limited="true" range="-3. 3." solreflimit=".08 1" damping="5e-4"/>
<joint name="s5" type="slide" axis="0 1 0" limited="true" range="-3. 3." solreflimit=".08 1" damping="5e-4"/>
<joint name="s6" type="slide" axis="0 0 1" limited="true" range="-3. 3." solreflimit=".08 1" damping="5e-4"/>
</body>
<body pos="-8.735285622388856 -15.129958516603422 0">
<geom type="sphere" mass="1e-6" size="0.06"/>
<site name="fm" pos="0 0 0"/>
<joint name="s7" type="slide" axis="1 0 0" limited="true" range="-3. 3." solreflimit=".08 1" damping="5e-4"/>
<joint name="s8" type="slide" axis="0 1 0" limited="true" range="-3. 3." solreflimit=".08 1" damping="5e-4"/>
<joint name="s9" type="slide" axis="0 0 1" limited="true" range="-3. 3." solreflimit=".08 1" damping="5e-4"/>
</body>
<body pos="17.470571244777712 0 0">
<geom type="sphere" mass="1e-6" size="0.06"/>
<site name="fr" pos="0 0 0"/>
<joint name="s10" type="slide" axis="1 0 0" limited="true" range="-3. 3." solreflimit=".08 1" damping="5e-4"/>
<joint name="s11" type="slide" axis="0 1 0" limited="true" range="-3. 3." solreflimit=".08 1" damping="5e-4"/>
<joint name="s12" type="slide" axis="0 0 1" limited="true" range="-3. 3." solreflimit=".08 1" damping="5e-4"/>
</body>
</body>
</worldbody>
<equality>
<connect active="true" name="c1" body1="lbar2" body2="rbar2" anchor="1.057961884250790 -1.832443735993672 12"/>
<connect active="true" name="c2" body1="lbar5" body2="rbar5" anchor="1.057961884250790 -1.832443735993672 12"/>
<connect active="true" name="c3" body1="lbar2" body2="mbar2" anchor="1.057961884250790 -1.832443735993672 12"/>
<connect active="true" name="c4" body1="lbar5" body2="mbar5" anchor="1.057961884250790 -1.832443735993672 12"/>
</equality>
<tendon>
<spatial name="S1">
<site site="f0"/>
<site site="lb2e"/>
</spatial>
<spatial name="S2">
<site site="rb1e"/>
<site site="lb1e"/>
</spatial>
<spatial name="S3">
<site site="mb1e"/>
<site site="lb1e"/>
</spatial>
<spatial name="S4">
<site site="mb1e"/>
<site site="rb1e"/>
</spatial>
<spatial name="S5">
<site site="lb2e"/>
<site site="lb5e"/>
</spatial>
<spatial name="S6">
<site site="rb4e"/>
<site site="lb4e"/>
</spatial>
<spatial name="S7">
<site site="mb4e"/>
<site site="lb4e"/>
</spatial>
<spatial name="S8">
<site site="mb4e"/>
<site site="rb4e"/>
</spatial>
<spatial name="S9">
<site site="f0"/>
<site site="lb3e"/>
</spatial>
<spatial name="S10">
<site site="f0"/>
<site site="rb3e"/>
</spatial>
<spatial name="S11">
<site site="f0"/>
<site site="mb3e"/>
</spatial>
<spatial name="S12">
<site site="lb5e"/>
<site site="lb3e"/>
</spatial>
<spatial name="S13">
<site site="lb5e"/>
<site site="rb3e"/>
</spatial>
<spatial name="S14">
<site site="lb5e"/>
<site site="mb3e"/>
</spatial>
<spatial name="S15">
<site site="lb3e"/>
<site site="rb3e"/>
</spatial>
<spatial name="S16">
<site site="lb3e"/>
<site site="mb3e"/>
</spatial>
<spatial name="S17">
<site site="rb3e"/>
<site site="mb3e"/>
</spatial>
<spatial name="S18">
<site site="fl"/>
<site site="lb3e"/>
</spatial>
<spatial name="S19">
<site site="fr"/>
<site site="rb3e"/>
</spatial>
<spatial name="S20">
<site site="fm"/>
<site site="mb3e"/>
</spatial>
</tendon>
<actuator>
<motor tendon="S19"/>
<motor tendon="S18"/>
<motor tendon="S20"/>
<motor tendon="S10"/>
<motor tendon="S9"/>
<motor tendon="S11"/>
<motor tendon="S13"/>
<motor tendon="S12"/>
<motor tendon="S14"/>
<motor tendon="S17"/>
<motor tendon="S16"/>
<motor tendon="S15"/>
<motor tendon="S4"/>
<motor tendon="S3"/>
<motor tendon="S2"/>
<motor tendon="S1"/>
<motor tendon="S8"/>
<motor tendon="S7"/>
<motor tendon="S6"/>
<motor tendon="S5"/>
</actuator>
<sensor>
<framelinvel objtype="site" objname="f0"/>
<framelinvel objtype="site" objname="lb1e"/>
<framelinvel objtype="site" objname="lb2e"/>
<framelinvel objtype="site" objname="lb3e"/>
<framelinvel objtype="site" objname="lb4e"/>
<framelinvel objtype="site" objname="lb5e"/>
<framelinvel objtype="site" objname="rb3e"/>
<framelinvel objtype="site" objname="mb3e"/>
<framelinvel objtype="site" objname="rb1e"/>
<framelinvel objtype="site" objname="rb4e"/>
<framelinvel objtype="site" objname="mb1e"/>
<framelinvel objtype="site" objname="mb4e"/>
<framelinvel objtype="site" objname="fl"/>
<framelinvel objtype="site" objname="fm"/>
<framelinvel objtype="site" objname="fr"/>
</sensor>
</mujoco>
| 49.520147 | 168 | 0.520379 |
e2863ac498a8ed4f0c5163ff5518386af4b04ae1 | 1,457 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/2889_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2889_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2889_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/288/288.stl" name="obj0" scale="0.003431758836212165 0.003431758836212165 0.003431758836212165" />
</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="0.011728214274214558 0.026201313990055743 0.22556123949071966">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.342105 | 155 | 0.61908 |
e286a9cb37d63e52edea099d90d106db5ab1a107 | 1,455 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/9950_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9950_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9950_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/995/995.stl" name="obj0" scale="0.011491106850145196 0.011491106850145196 0.011491106850145196" />
</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="0.03469061738097184 0.07405695464816091 0.23164306667879825">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.289474 | 155 | 0.618557 |
e286e372a33532b07e10dcf0279516125cd0672a | 78,293 | xml | XML | herb_reconf/cluttered_scenes/grasping_004_sugar_box_0_0.6_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/grasping_004_sugar_box_0_0.6_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/grasping_004_sugar_box_0_0.6_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="10" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/>
<size nconmax="10000" njmax="10000"/>
<visual>
<global offheight="800" offwidth="800"/>
<quality shadowsize="2048"/>
<headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/>
<map force="0.1" zfar="30.0"/>
<rgba haze="0.1499999 0.25 0.3499998 1"/>
</visual>
<statistic center="0.2 0 0.5" extent="10.0"/>
<default>
<default class="/"/>
<default class="geom0">
<geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/>
</default>
<default class="herb/">
<joint damping="1.0"/>
<default class="herb/viz">
<geom conaffinity="0" contype="0" group="1"/>
</default>
</default>
<default class="herb/wam/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
</default>
<default class="herb/wam/bhand/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/bhand/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
<default class="herb/wam/bhand/viz">
<geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam_1/col">
<geom conaffinity="1" condim="4" contype="1" friction="2 0.1 0.02" group="0" priority="10" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/bhand/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/bhand/col">
<geom conaffinity="1" condim="4" contype="4" friction="2 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/>
</default>
<default class="herb/wam_1/bhand/viz">
<geom conaffinity="0" condim="4" contype="4" friction="2 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/>
</default>
</default>
</default>
<asset>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concrete_2d" type="2d"/>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concretecube" type="cube"/>
<material class="/" name="concrete_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concrete_2d"/>
<material class="/" name="concretecube" rgba="0.8 0.8 0.8 1" texture="concretecube"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marble2d" type="2d"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marblecube" type="cube"/>
<material class="/" name="marble_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="marble2d"/>
<material class="/" name="marblecube" rgba="0.8 0.8 0.8 1" texture="marblecube"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplain_2d" type="2d"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplaincube" type="cube"/>
<material class="/" name="concreteplain_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concreteplain_2d"/>
<material class="/" name="concreteplaincube" rgba="0.8 0.8 0.8 1" texture="concreteplaincube"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="wood2d" type="2d"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="ycb_objects/004_sugar_box/google_16k/nontextured.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/019_pitcher_base/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="0.968412215929551 0.968412215929551 0.968412215929551"/><mesh class="geom0" file="ycb_objects/013_apple/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="1.1777681363267516 1.1777681363267516 1.1777681363267516"/><mesh class="geom0" file="ycb_objects/026_sponge/google_16k/nontextured.stl" name="gen_mesh_gadded_3" scale="1.2948832500106553 1.2948832500106553 1.2948832500106553"/><mesh class="geom0" file="ycb_objects/017_orange/google_16k/nontextured.stl" name="gen_mesh_gadded_4" scale="1.1960880674566745 1.1960880674566745 1.1960880674566745"/><mesh class="geom0" file="ycb_objects/009_gelatin_box/google_16k/nontextured.stl" name="gen_mesh_gadded_5" scale="1.3572425111391055 1.3572425111391055 1.3572425111391055"/><mesh class="geom0" file="ycb_objects/012_strawberry/google_16k/nontextured.stl" name="gen_mesh_gadded_6" scale="1.3119581457106557 1.3119581457106557 1.3119581457106557"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="cam_target"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="table"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" name="table_plane" pos="0 0 0.3" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.6999996 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="0 0 0.45">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_8" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_10" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>-->
</body>
<light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/>
</body>
<!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998">
<geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/>
<joint name="//unnamed_joint_2" class="/" type="free"/>
</body>
<body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998">
<geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/>
<joint name="//unnamed_joint_3" class="/" type="free"/>
</body>
<body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998">
<geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/>
<joint name="//unnamed_joint_4" class="/" type="free"/>
</body> -->
<!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/>
<joint name="//unnamed_joint_5" class="/" type="free"/>
</body>-->
<!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998">
<geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/>
<joint name="//unnamed_joint_6" class="/" type="free"/>
</body>-->
<!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325">
<geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/>
<joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/>
</body>
<body name="target_obj" pos="0 0.0 0.325">
<geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/>
</body>-->
<!--<body name="gen_body_0" pos="0 0.0 0.3549998" euler="0 0 0.5">
<geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_0" class="/" type="free"/>
</body>
<body name="box_0" pos="0.175 0.0 0.3725">
<geom name="box_geom_0" class="/" type="box" group="1" size="0.055 0.055 0.065" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="target_obj" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_15" class="geom0" type="box" contype="0" conaffinity="0" group="1" size="0.055 0.055 0.055" rgba="0 0 0 0.1666"/>
</body>-->
<!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!-- <body name="virt_box_2" pos="0 .45 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/>
</body>
<body name="virt_box_3" pos="0 0.57243499223068691 0.3549998">
<geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/>
</body> -->
<body euler="0 0 1.9019622537129017" name="gen_body_0" pos="0 0 0.2999690000004193"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.41454112548124633 0.7997039693901407 0.8723244750328583 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 0.3114261221548923" name="gen_body_gadded_1" pos="0.28956961792530295 0.0 0.30855586462479956"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.6838233654485937 0.9106158724911024 0.399897322661796 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 5.646459610684451" name="gen_body_gadded_2" pos="0.3149836532570961 0.22056062285838646 0.3005689860424582"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.9107539441634119 0.7593340367831223 0.09727453868156744 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 0.6892032019570901" name="gen_body_gadded_3" pos="0.0663321133874892 0.21428766656452627 0.29985932971706514"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.3116181488058375 0.8864829764399119 0.251759924435523 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 1.6062429707243475" name="gen_body_gadded_4" pos="0.3095677917287945 -0.428090485497712 0.30014717273463026"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.7476806115760247 0.6029774291959756 0.952896784504511 1" type="mesh"/><joint class="/" name="gen_joint_gadded_4" type="free"/></body><body euler="0 0 1.6961386194080892" name="gen_body_gadded_5" pos="-0.025306522112712615 -0.21375900750067003 0.3006729967557726"><geom class="/" mesh="gen_mesh_gadded_5" name="gen_geom_gadded_5" rgba="0.8391440855699985 0.31039944812028153 0.6210816423965213 1" type="mesh"/><joint class="/" name="gen_joint_gadded_5" type="free"/></body><body euler="0 0 1.1645107841356126" name="gen_body_gadded_6" pos="0.3654691645906969 -0.09646806304494215 0.3001842405091827"><geom class="/" mesh="gen_mesh_gadded_6" name="gen_geom_gadded_6" rgba="0.5809231042481067 0.7790811464131822 0.4770070157879708 1" type="mesh"/><joint class="/" name="gen_joint_gadded_6" type="free"/></body></worldbody>
<contact>
<!--<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="box_geom_0" geom2="table_plane"/>-->
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/>
<!--<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>-->
<!--<pair geom1="//unnamed_geom_8" geom2="tabletop" friction="1 1 0.005 0.0001 0.0001" />-->
<!-- <pair geom1="//unnamed_geom_9" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> -->
</contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="10000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="10000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="10000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="10000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>-->
</actuator>
</mujoco> | 122.908948 | 2,280 | 0.68623 |
e287641acf7490b762da048809d9ca61eee58964 | 4,480 | xml | XML | assets/fetch_complex_objects/fetch/train_scene_hook_976.xml | NagisaZj/ac-teach | 481811d5c80d0dbee54f16c063b4ea3262b82050 | [
"MIT"
] | 19 | 2019-10-19T09:05:08.000Z | 2022-01-27T13:36:37.000Z | assets/fetch_complex_objects/fetch/train_scene_hook_976.xml | NagisaZj/ac-teach | 481811d5c80d0dbee54f16c063b4ea3262b82050 | [
"MIT"
] | 13 | 2019-12-07T12:47:20.000Z | 2022-01-13T01:44:35.000Z | assets/fetch_complex_objects/fetch/train_scene_hook_976.xml | NagisaZj/ac-teach | 481811d5c80d0dbee54f16c063b4ea3262b82050 | [
"MIT"
] | 8 | 2019-10-24T23:36:58.000Z | 2022-01-27T13:36:39.000Z | <?xml version="1.0" encoding="utf-8"?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="../stls/fetch" texturedir="../textures"></compiler>
<option timestep="0.002">
<flag warmstart="enable"></flag>
</option>
<include file="shared.xml"></include>
<worldbody>
<geom name="floor0" pos="1.42 0.75 0" size="1.0 0.7 1" type="plane" condim="3" material="floor_mat"></geom>
<body name="floor0" pos="1.42 0.75 0">
<site name="target0" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
</body>
<include file="robot.xml"></include>
<body pos="1.65 0.75 0.2" name="table0">
<geom size="0.5 0.45 0.2" type="box" mass="20000" material="table_mat"></geom><geom size="0.03914563980316515 0.0185044252803638 0.003296595396210452" pos="0.2590187495586583 -0.09691364298640598 0.20329659539621045" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03296502156185133 0.003332772561520995 0.0033579696541204017" pos="-0.013653306299619916 0.13378647400793597 0.20335796965412042" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.014878610701500164 0.011463655515890594 0.002191731411020629" pos="0.05061274471427363 0.23097648248812613 0.20219173141102065" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0444076455909602 0.04441726780266748 0.0040467618678229084" pos="0.018046977009422094 0.28516713294768387 0.20404676186782292" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03554905765784001 0.011546866457681798 0.00302250720434342" pos="0.2057808898520645 -0.1285871738294976 0.20302250720434342" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04012876309884538 0.0016375812453266157 0.0009088850493217653" pos="-0.0746092555931443 0.07109529511830553 0.20090888504932178" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.016843984874165017 0.049637796181892846 0.0021898701588546473" pos="0.2913249855012748 -0.20851937882165658 0.20218987015885465" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.006912359729486999 0.03077286925301889 0.0007051471154173156" pos="-0.18019899021017124 -0.19769429405716643 0.20070514711541732" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04380400725218223 0.01782282969296041 0.00022998352439430772" pos="0.017990013274547967 -0.18447153899625202 0.2002299835243943" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
</body>
<body pos="1.3795472193345 0.69377463944315 0.4130000003355" name="object0">
<light castshadow="false"/>
<geom type="mesh" density="5241.90700391" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
<joint name="object0:joint" type="free" damping="0.3101019951907361"></joint>
<site name="object0" pos="-0.0045472193344999745 -0.008774639443149934 0.0069999996644999896" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere"></site>
</body>
<body name="hook" pos="1.0 0.025 0.025">
<joint name="hook:joint" type="free" damping="0.01"></joint>
<geom size="0.4 0.015 0.015" type="box" condim="3" name="hook_base" material="block_mat" mass="2"></geom>
<geom size="0.015 0.1 0.015" pos="0.4 0.085 0." type="box" condim="3" name="hook_head" material="block_mat" mass="2"></geom>
<site name="hook" pos="-0.25 0 0" size="0.002 0.002 0.002" rgba="1 0 0 1" type="sphere"></site>
</body>
<light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false" pos="0 0 4" dir="0 0 -1" name="light0"></light>
</worldbody>
<asset>
<mesh scale="0.000938731972155 0.000938731972155 0.000938731972155" file="mujoco_models/Love_Box_1.stl" name="object_mesh"/>
<texture file="textures/obj_textures/grid_0055.png" name="object"/>
<material specular="1" texture="object" rgba="0.9 0.9 0.9 1" shininess="0.3" name="object"/>
</asset>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1"></position>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1"></position>
</actuator>
</mujoco>
| 77.241379 | 279 | 0.675893 |
e289d97dddd132881bee829a4d5b7326ac3ae961 | 5,023 | xml | XML | body_mnist/exp_add_diff_help/envs/103.xml | liusida/thesis-bodies | dceb8a36efd2cefc611f6749a52b56b9d3572f7a | [
"MIT"
] | null | null | null | body_mnist/exp_add_diff_help/envs/103.xml | liusida/thesis-bodies | dceb8a36efd2cefc611f6749a52b56b9d3572f7a | [
"MIT"
] | null | null | null | body_mnist/exp_add_diff_help/envs/103.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 0.6928725971978603">
<geom name="torso_geom" pos="0 0 0" size="0.19287259719786032" 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 0.25804533438806326 0.25804533438806326 0.0" name="aux_1_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
<body name="aux_1" pos="0.25804533438806326 0.25804533438806326 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 0.25804533438806326 0.25804533438806326 0.0" name="left_leg_geom" size="0.05289194862431127" type="capsule" rgba=".8 .5 .3 1"/>
<body pos="0.25804533438806326 0.25804533438806326 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 0.15086902497859261 0.15086902497859261 0.0" name="left_ankle_geom" size="0.11819367815877588" 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 -0.25804533438806326 0.25804533438806326 0.0" name="aux_2_geom" size="0.08" type="capsule"/>
<body name="aux_2" pos="-0.25804533438806326 0.25804533438806326 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 -0.25804533438806326 0.25804533438806326 0.0" name="right_leg_geom" size="0.05289194862431127" type="capsule"/>
<body pos="-0.25804533438806326 0.25804533438806326 0" name="front_right_foot">
<joint axis="1 1 0" name="ankle_2" pos="0.0 0.0 0.0" range="-100 -30" type="hinge"/>
<geom fromto="0.0 0.0 0.0 -0.15086902497859261 0.15086902497859261 0.0" name="right_ankle_geom" size="0.11819367815877588" type="capsule"/>
</body>
</body>
</body>
<body name="left_back_leg" pos="0 0 0">
<geom fromto="0.0 0.0 0.0 -0.25804533438806326 -0.25804533438806326 0.0" name="aux_3_geom" size="0.08" type="capsule"/>
<body name="aux_3" pos="-0.25804533438806326 -0.25804533438806326 0">
<joint axis="0 0 1" name="hip_3" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
<geom fromto="0.0 0.0 0.0 -0.25804533438806326 -0.25804533438806326 0.0" name="back_leg_geom" size="0.05289194862431127" type="capsule"/>
<body pos="-0.25804533438806326 -0.25804533438806326 0" name="left_back_foot">
<joint axis="-1 1 0" name="ankle_3" pos="0.0 0.0 0.0" range="-100 -30" type="hinge"/>
<geom fromto="0.0 0.0 0.0 -0.15086902497859261 -0.15086902497859261 0.0" name="third_ankle_geom" size="0.11819367815877588" type="capsule"/>
</body>
</body>
</body>
<body name="right_back_leg" pos="0 0 0">
<geom fromto="0.0 0.0 0.0 0.25804533438806326 -0.25804533438806326 0.0" name="aux_4_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
<body name="aux_4" pos="0.25804533438806326 -0.25804533438806326 0">
<joint axis="0 0 1" name="hip_4" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.25804533438806326 -0.25804533438806326 0.0" name="rightback_leg_geom" size="0.05289194862431127" type="capsule" rgba=".8 .5 .3 1"/>
<body pos="0.25804533438806326 -0.25804533438806326 0" name="right_back_foot">
<joint axis="1 1 0" name="ankle_4" pos="0.0 0.0 0.0" range="30 100" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.15086902497859261 -0.15086902497859261 0.0" name="fourth_ankle_geom" size="0.11819367815877588" type="capsule" rgba=".8 .5 .3 1"/>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_4" gear="150"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_4" gear="150"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_1" gear="150"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_1" gear="150"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_2" gear="150"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_2" gear="150"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_3" gear="150"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_3" gear="150"/>
</actuator>
</mujoco>
| 68.808219 | 170 | 0.626518 |
e28aa5f15ece6df5122e29d57797d78fd5a95305 | 5,102 | xml | XML | softlearning/environments/gym/mujoco/assets/half_cheetah_4dof.xml | JiazhengChai/synergy_DRL | c08e78e5fe39d9d46213e1bf07b8dafc2195b05a | [
"MIT"
] | 2 | 2020-01-07T04:12:42.000Z | 2021-12-21T22:25:31.000Z | softlearning/environments/gym/mujoco/assets/half_cheetah_4dof.xml | JiazhengChai/synergy_DRL | c08e78e5fe39d9d46213e1bf07b8dafc2195b05a | [
"MIT"
] | 11 | 2019-11-29T02:59:34.000Z | 2022-03-12T00:07:28.000Z | softlearning/environments/gym/mujoco/assets/half_cheetah_4dof.xml | JiazhengChai/synergy_DRL | c08e78e5fe39d9d46213e1bf07b8dafc2195b05a | [
"MIT"
] | 1 | 2020-04-28T12:06:40.000Z | 2020-04-28T12:06:40.000Z | <!-- 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 .15" 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">
<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=".09 0 -.12" rgba="0.9 0.6 0.6 1" size="0.046 .15" type="capsule"/>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor gear="120" joint="bthigh" name="bthigh"/>
<motor gear="90" joint="bshin" name="bshin"/>
<motor gear="120" joint="fthigh" name="fthigh"/>
<motor gear="60" joint="fshin" name="fshin"/>
</actuator>
</mujoco>
| 54.276596 | 163 | 0.557428 |
e28b0c1a5b9fba974ff3843cfac85ed07e04a6ab | 1,768 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/353_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/353_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/353_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/035/035.stl" name="obj0" scale="0.005826484118363681 0.005826484118363681 0.005826484118363681" />
</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="0.024794416718204853 0.041209166497926705 0.0327631533847879">
<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="0.005893283018836037 -0.004815332654319029 -0.009921387977021525" rgba="1 0 0 0" size="0.012397208359102426 0.020604583248963353 0.01638157669239395" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.121951 | 198 | 0.670249 |
e28d52318187264dffb0a3b7b95aada5f2428c34 | 1,775 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/8634_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8634_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8634_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/863/863.stl" name="obj0" scale="0.0055997832186606335 0.0055997832186606335 0.0055997832186606335" />
</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="0.026147283374546016 0.055684210727662026 0.019985391116504617">
<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="0.002936775691134346 -0.006684692402250471 -0.0009555244049325644" rgba="1 0 0 0" size="0.013073641687273008 0.027842105363831013 0.009992695558252308" 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> | 43.292683 | 200 | 0.671549 |
e290be69901699f6dd7bca51cd42b9060f23e675 | 1,455 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/2394_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2394_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2394_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/239/239.stl" name="obj0" scale="0.011632410837515931 0.011632410837515931 0.011632410837515931" />
</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="0.027411875014098416 0.07517389086552109 0.2171281258890841">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.289474 | 155 | 0.618557 |
e290c45aeb0e60d00c25be1e309ce8e49a7f36cc | 2,219 | xml | XML | dex_envs/assets/hand/manipulate_rubiks_cube.xml | huangwl18/geometry-dex | 0c629316258ef560b360c6103d83d5cb828e3ccd | [
"MIT"
] | 29 | 2021-11-11T23:05:02.000Z | 2022-03-10T06:05:23.000Z | dex_envs/assets/hand/manipulate_rubiks_cube.xml | huangwl18/geometry-dex | 0c629316258ef560b360c6103d83d5cb828e3ccd | [
"MIT"
] | 2 | 2021-12-13T16:18:14.000Z | 2022-03-09T14:04:37.000Z | dex_envs/assets/hand/manipulate_rubiks_cube.xml | huangwl18/geometry-dex | 0c629316258ef560b360c6103d83d5cb828e3ccd | [
"MIT"
] | 2 | 2021-11-18T06:00:30.000Z | 2021-12-17T03:04:52.000Z | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../stls/hand" texturedir="../textures"/>
<option timestep="0.002" iterations="20" apirate="200">
<flag warmstart="enable"/>
</option>
<include file="shared.xml"/>
<asset>
<include file="shared_asset.xml"/>
<texture name="texture:object" file="block.png" gridsize="3 4" gridlayout=".U..LFRB.D.."/>
<texture name="texture:hidden" file="block_hidden.png" gridsize="3 4" gridlayout=".U..LFRB.D.."/>
<material name="material:object" texture="texture:object" specular="1" shininess="0.3" reflectance="0"/>
<material name="material:hidden" texture="texture:hidden" specular="1" shininess="0.3" reflectance="0"/>
<material name="material:target" texture="texture:object" specular="1" shininess="0.3" reflectance="0" rgba="1 1 1 0.5"/>
<mesh name="mesh:object" file="ycb_objects/rubiks_cube.stl"/></asset>
<worldbody>
<geom name="floor0" pos="1 1 0" size="1 1 1" type="plane" condim="3" material="floor_mat"/>
<body name="floor0" pos="1 1 0"/>
<include file="robot.xml"/>
<body name="object" pos="1 0.87 0.2">
<geom name="object" type="mesh" size="0" material="material:object" condim="4" density="567" mesh="mesh:object"/>
<!-- <geom name="object_hidden" type="box" size="0.024 0.024 0.024" material="material:hidden" condim="4" contype="0" conaffinity="0" mass="0"></geom> -->
<site name="object:center" pos="0 0 0" rgba="1 0 0 0" size="0.01 0.01 0.01"/>
<joint name="object:joint" type="free" damping="0.01"/>
</body>
<body name="target" pos="1 0.87 0.2">
<geom name="target" type="mesh" size="0" material="material:target" condim="4" group="2" contype="0" conaffinity="0" mesh="mesh:object"/>
<site name="target:center" pos="0 0 0" rgba="1 0 0 0" size="0.01 0.01 0.01"/>
<joint name="target:joint" type="free" damping="0.01"/>
</body>
<light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false" pos="0 1 4" dir="0 0 -1" name="light0"/>
</worldbody>
</mujoco> | 55.475 | 166 | 0.602524 |
e290f11316c13d9647ff4983d9e57fae4a155076 | 87,228 | xml | XML | herb_reconf/cluttered_scenes/grasping_potted_plant_3_1_0.7_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/grasping_potted_plant_3_1_0.7_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/grasping_potted_plant_3_1_0.7_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="10" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/>
<size nconmax="10000" njmax="10000"/>
<visual>
<global offheight="800" offwidth="800"/>
<quality shadowsize="2048"/>
<headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/>
<map force="0.1" zfar="30.0"/>
<rgba haze="0.1499999 0.25 0.3499998 1"/>
</visual>
<statistic center="0.2 0 0.5" extent="10.0"/>
<default>
<default class="/"/>
<default class="geom0">
<geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/>
</default>
<default class="herb/">
<joint damping="1.0"/>
<default class="herb/viz">
<geom conaffinity="0" contype="0" group="1"/>
</default>
</default>
<default class="herb/wam/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
</default>
<default class="herb/wam/bhand/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/bhand/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
<default class="herb/wam/bhand/viz">
<geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam_1/col">
<geom conaffinity="1" condim="4" contype="1" friction="2 0.1 0.02" group="0" priority="10" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/bhand/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/bhand/col">
<geom conaffinity="1" condim="4" contype="4" friction="2 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/>
</default>
<default class="herb/wam_1/bhand/viz">
<geom conaffinity="0" condim="4" contype="4" friction="2 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/>
</default>
</default>
</default>
<asset>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concrete_2d" type="2d"/>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concretecube" type="cube"/>
<material class="/" name="concrete_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concrete_2d"/>
<material class="/" name="concretecube" rgba="0.8 0.8 0.8 1" texture="concretecube"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marble2d" type="2d"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marblecube" type="cube"/>
<material class="/" name="marble_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="marble2d"/>
<material class="/" name="marblecube" rgba="0.8 0.8 0.8 1" texture="marblecube"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplain_2d" type="2d"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplaincube" type="cube"/>
<material class="/" name="concreteplain_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concreteplain_2d"/>
<material class="/" name="concreteplaincube" rgba="0.8 0.8 0.8 1" texture="concreteplaincube"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="wood2d" type="2d"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="downloaded_assets/potted_plant_3/scene.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/019_pitcher_base/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="1.262459248965917 1.262459248965917 1.262459248965917"/><mesh class="geom0" file="ycb_objects/011_banana/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="0.6642902111145399 0.6642902111145399 0.6642902111145399"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="cam_target"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="table"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" name="table_plane" pos="0 0 0.3" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.6999996 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="0 0 0.45">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_8" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_10" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>-->
</body>
<light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/>
</body>
<!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998">
<geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/>
<joint name="//unnamed_joint_2" class="/" type="free"/>
</body>
<body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998">
<geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/>
<joint name="//unnamed_joint_3" class="/" type="free"/>
</body>
<body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998">
<geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/>
<joint name="//unnamed_joint_4" class="/" type="free"/>
</body> -->
<!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/>
<joint name="//unnamed_joint_5" class="/" type="free"/>
</body>-->
<!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998">
<geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/>
<joint name="//unnamed_joint_6" class="/" type="free"/>
</body>-->
<!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325">
<geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/>
<joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/>
</body>
<body name="target_obj" pos="0 0.0 0.325">
<geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/>
</body>-->
<!--<body name="gen_body_0" pos="0 0.0 0.3549998" euler="0 0 0.5">
<geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_0" class="/" type="free"/>
</body>
<body name="box_0" pos="0.175 0.0 0.3725">
<geom name="box_geom_0" class="/" type="box" group="1" size="0.055 0.055 0.065" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="target_obj" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_15" class="geom0" type="box" contype="0" conaffinity="0" group="1" size="0.055 0.055 0.055" rgba="0 0 0 0.1666"/>
</body>-->
<!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!-- <body name="virt_box_2" pos="0 .45 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/>
</body>
<body name="virt_box_3" pos="0 0.57243499223068691 0.3549998">
<geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/>
</body> -->
<body euler="0 0 3.454179846008637" name="gen_body_0" pos="0 0 0.41421426385641097"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.5743891566339169 0.8717080078457728 0.725390817902707 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 1.4657946185153705" name="gen_body_gadded_1" pos="0.37616241607816425 -0.015617572981629779 0.31115375350136637"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.8791903672206797 0.8229706669047577 0.04211708910903855 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 3.1977930697031756" name="gen_body_gadded_2" pos="0.19657573623991492 0.1942245919606978 0.30020171388732747"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.4781506111618139 0.14313246922927436 0.5065597749752465 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" /> -->
<pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_0" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="10000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="10000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="10000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="10000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>-->
</actuator>
</mujoco> | 136.935636 | 10,958 | 0.686156 |
e2949b4bd671952ba3974314cfbf7d41aa3b3ab7 | 2,718 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3211_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3211_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3211_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/321/321.stl" name="obj0" scale="0.006470469625876637 0.006470469625876637 0.006470469625876637" />
</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="0.01754583336939272 0.04 0.015372049981466148" 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="0.004803958932011184 0.004118716318319811 0.039233711293571706" size="0.01246398697133308 0.010899439189781854 0.05471432349521959" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="7.855755207969401e-05 -5.999749745155865e-05 -0.00010856222018173609" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.004803958932011184 0.004118716318319811 0.029233711293571704" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.333333 | 220 | 0.657101 |
e2972c81b09975533cf589b6ec294389f3c02d7d | 1,452 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/6317_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6317_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6317_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/631/631.stl" name="obj0" scale="0.00634823154021332 0.00634823154021332 0.00634823154021332" />
</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="0.03471106038487191 0.04119699141542399 0.21764978183373004">
<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 |
e298df69c1a83613f49ed5d2452c083a0d43c7ca | 90,223 | xml | XML | herb_reconf/cluttered_scenes/hard_pushing_cup_1_4_0.5_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/hard_pushing_cup_1_4_0.5_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/hard_pushing_cup_1_4_0.5_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="5" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/>
<size nconmax="10000" njmax="10000"/>
<visual>
<global offheight="800" offwidth="800"/>
<quality shadowsize="2048"/>
<headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/>
<map force="0.1" zfar="30.0"/>
<rgba haze="0.1499999 0.25 0.3499998 1"/>
</visual>
<statistic center="0.2 0 0.5" extent="10.0"/>
<default>
<default class="/"/>
<default class="geom0">
<geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/>
</default>
<default class="herb/">
<joint damping="1.0"/>
<default class="herb/viz">
<geom conaffinity="0" contype="0" group="1"/>
</default>
</default>
<default class="herb/wam/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
</default>
<default class="herb/wam/bhand/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/bhand/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
<default class="herb/wam/bhand/viz">
<geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam_1/col">
<geom conaffinity="1" condim="4" contype="1" group="0" priority="10" type="mesh"/><!-- friction="1 0.1 0.02" -->
</default>
</default>
<default class="herb/wam_1/bhand/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/bhand/col">
<geom conaffinity="1" condim="4" contype="4" friction="1 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/> <!-- -->
</default>
<default class="herb/wam_1/bhand/viz">
<geom conaffinity="0" condim="4" contype="4" friction="1 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/><!-- -->
</default>
</default>
</default>
<asset>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concrete_2d" type="2d"/>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concretecube" type="cube"/>
<material class="/" name="concrete_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concrete_2d"/>
<material class="/" name="concretecube" rgba="0.8 0.8 0.8 1" texture="concretecube"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marble2d" type="2d"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marblecube" type="cube"/>
<material class="/" name="marble_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="marble2d"/>
<material class="/" name="marblecube" rgba="0.8 0.8 0.8 1" texture="marblecube"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplain_2d" type="2d"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplaincube" type="cube"/>
<material class="/" name="concreteplain_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concreteplain_2d"/>
<material class="/" name="concreteplaincube" rgba="0.8 0.8 0.8 1" texture="concreteplaincube"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="wood2d" type="2d"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<!--<mesh name="mustard" class="/" file="ycb_objects/006_mustard_bottle/google_16k/textured.msh"/>
<texture name="mustard_tex" type="2d" file="ycb_objects/006_mustard_bottle/google_16k/texture_map.png"/>
<material name="mustard_mat" class="/" texture="mustard_tex"/>-->
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="downloaded_assets/cup_1/scene.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="downloaded_assets/maytoni/scene.stl" name="gen_mesh_gadded_1" scale="1.0313411290382888 1.0313411290382888 1.0313411290382888"/><mesh class="geom0" file="ycb_objects/018_plum/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="1.3035512712355024 1.3035512712355024 1.3035512712355024"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="table"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="cam_target"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" friction="0.67 0.005 0.0001" name="table_plane" pos="0 0 0.3" priority="20" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.5 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="-.2 -0.2 0.29">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_8" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_10" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>-->
</body>
<light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/>
</body>
<!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998">
<geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/>
<joint name="//unnamed_joint_2" class="/" type="free"/>
</body>
<body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998">
<geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/>
<joint name="//unnamed_joint_3" class="/" type="free"/>
</body>
<body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998">
<geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/>
<joint name="//unnamed_joint_4" class="/" type="free"/>
</body> -->
<!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/>
<joint name="//unnamed_joint_5" class="/" type="free"/>
</body>-->
<!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998">
<geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/>
<joint name="//unnamed_joint_6" class="/" type="free"/>
</body>-->
<!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325">
<geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/>
<joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/>
</body>
<body name="target_obj" pos="0 0.0 0.325">
<geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/>
</body>-->
<!--<body name="gen_body_0" pos="0 0.0 0.3549998">
<geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_0" class="/" type="free"/>
</body>-->
<!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998">
<geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/>
</body>-->
<!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!-- <body name="virt_box_2" pos="0 .45 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/>
</body>
<body name="virt_box_3" pos="0 0.57243499223068691 0.3549998">
<geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/>
</body> -->
<body euler="0 0 4.746990495768115" name="gen_body_0" pos="0 0 0.5054777145385743"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.15999341208241258 0.4787707564271735 0.41786362971838353 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 5.2593007064012305" name="gen_body_gadded_1" pos="0.2627009154478924 -0.08658991196959896 0.580547954822478"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.7027858879394013 0.45809839555116294 0.03927644965508059 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 4.1169745247055705" name="gen_body_gadded_2" pos="0.3762907260429974 -0.053091577340782944 0.3000340080046018"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.03887606156323398 0.13244740602544103 0.23304122735327437 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body></worldbody>
<contact>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/>
<!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> -->
<!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/>
<exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/>
<exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/>
<exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/>
<exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/>
<exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/>
<exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/>
<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>-->
<pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_0" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>-->
</actuator>
</mujoco> | 131.904971 | 10,958 | 0.688405 |
e29b2af5fbbcca198fbe92dc6d2e7080d3a3d52e | 1,316 | xml | XML | gym_kuka_mujoco/envs/assets/full_peg_insertion_experiment_moving_hole_id=015.xml | leonmkim/gym-kuka-mujoco | ed45ae74d10e69f4e51439de2d1d0c0811623b6b | [
"MIT"
] | 23 | 2019-03-12T21:19:12.000Z | 2022-03-08T15:03:40.000Z | gym_kuka_mujoco/envs/assets/full_peg_insertion_experiment_moving_hole_id=015.xml | hzm2016/gym-kuka-mujoco | a8a40bb08a1a1a269a2386ca0d102d62d8384206 | [
"MIT"
] | 16 | 2019-04-21T17:50:13.000Z | 2022-03-11T23:40:29.000Z | gym_kuka_mujoco/envs/assets/full_peg_insertion_experiment_moving_hole_id=015.xml | hzm2016/gym-kuka-mujoco | a8a40bb08a1a1a269a2386ca0d102d62d8384206 | [
"MIT"
] | 14 | 2019-05-21T08:56:43.000Z | 2021-12-31T04:23:29.000Z | <?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="enable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
<geom contype="1" conaffinity="1" friction=".2 0.005 0.0001"/>
</default>
<site rgba="1 0 0 .5"/>
</default>
<asset>
<include file="kuka/kuka_assets.xml"/>
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1" width="256" height="256"/>
</asset>
<worldbody>
<light pos="0 0 1000" castshadow="false"/>
<geom class="collision" type="plane" size="10 10 1" rgba=".8 .8 .8 1"/>
<body name="kuka_table" pos="0 0 1">
<geom class="collision" type="box" size=".5 .5 .5" pos="0 0 -.5" />
<body name="kuka_base" pos=".2 0 0">
<include file="kuka/kuka_mesh_collision_peg_ee.xml"/>
</body>
</body>
<body pos=".85 0 1.3" mocap="true">
<include file="hole/polyhedral_hole_inner=0-019939_outer=0-10_height=0-05_num_facets=16_id=015.xml"/>
</body>
</worldbody>
<actuator>
<include file="kuka/kuka_actuators.xml"/>
</actuator>
<sensor>
<include file="peg/peg_sensors.xml" />
</sensor>
</mujoco>
| 27.416667 | 107 | 0.597264 |
e29b61a7b265b096da62ac799aef00633634c265 | 79,813 | xml | XML | herb_reconf/cluttered_scenes/easy_pushing_077_rubiks_cube_2_0.6_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_077_rubiks_cube_2_0.6_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_077_rubiks_cube_2_0.6_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="5" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/>
<size nconmax="10000" njmax="10000"/>
<visual>
<global offheight="800" offwidth="800"/>
<quality shadowsize="2048"/>
<headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/>
<map force="0.1" zfar="30.0"/>
<rgba haze="0.1499999 0.25 0.3499998 1"/>
</visual>
<statistic center="0.2 0 0.5" extent="10.0"/>
<default>
<default class="/"/>
<default class="geom0">
<geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/>
</default>
<default class="herb/">
<joint damping="1.0"/>
<default class="herb/viz">
<geom conaffinity="0" contype="0" group="1"/>
</default>
</default>
<default class="herb/wam/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
</default>
<default class="herb/wam/bhand/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/bhand/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
<default class="herb/wam/bhand/viz">
<geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam_1/col">
<geom conaffinity="1" condim="4" contype="1" group="0" priority="10" type="mesh"/><!-- friction="1 0.1 0.02" -->
</default>
</default>
<default class="herb/wam_1/bhand/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/bhand/col">
<geom conaffinity="1" condim="4" contype="4" friction="1 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/> <!-- -->
</default>
<default class="herb/wam_1/bhand/viz">
<geom conaffinity="0" condim="4" contype="4" friction="1 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/><!-- -->
</default>
</default>
</default>
<asset>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concrete_2d" type="2d"/>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concretecube" type="cube"/>
<material class="/" name="concrete_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concrete_2d"/>
<material class="/" name="concretecube" rgba="0.8 0.8 0.8 1" texture="concretecube"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marble2d" type="2d"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marblecube" type="cube"/>
<material class="/" name="marble_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="marble2d"/>
<material class="/" name="marblecube" rgba="0.8 0.8 0.8 1" texture="marblecube"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplain_2d" type="2d"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplaincube" type="cube"/>
<material class="/" name="concreteplain_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concreteplain_2d"/>
<material class="/" name="concreteplaincube" rgba="0.8 0.8 0.8 1" texture="concreteplaincube"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="wood2d" type="2d"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<!--<mesh name="mustard" class="/" file="ycb_objects/006_mustard_bottle/google_16k/textured.msh"/>
<texture name="mustard_tex" type="2d" file="ycb_objects/006_mustard_bottle/google_16k/texture_map.png"/>
<material name="mustard_mat" class="/" texture="mustard_tex"/>-->
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="ycb_objects/077_rubiks_cube/google_16k/nontextured.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/006_mustard_bottle/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="0.8703116977681968 0.8703116977681968 0.8703116977681968"/><mesh class="geom0" file="ycb_objects/011_banana/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="1.3418348732934193 1.3418348732934193 1.3418348732934193"/><mesh class="geom0" file="ycb_objects/017_orange/google_16k/nontextured.stl" name="gen_mesh_gadded_3" scale="1.6984928407186466 1.6984928407186466 1.6984928407186466"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="table"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="cam_target"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" friction="0.67 0.005 0.0001" name="table_plane" pos="0 0 0.3" priority="20" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.5 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="-.2 -0.2 0.29">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_8" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_10" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>-->
</body>
<light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/>
</body>
<!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998">
<geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/>
<joint name="//unnamed_joint_2" class="/" type="free"/>
</body>
<body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998">
<geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/>
<joint name="//unnamed_joint_3" class="/" type="free"/>
</body>
<body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998">
<geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/>
<joint name="//unnamed_joint_4" class="/" type="free"/>
</body> -->
<!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/>
<joint name="//unnamed_joint_5" class="/" type="free"/>
</body>-->
<!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998">
<geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/>
<joint name="//unnamed_joint_6" class="/" type="free"/>
</body>-->
<!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325">
<geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/>
<joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/>
</body>
<body name="target_obj" pos="0 0.0 0.325">
<geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/>
</body>-->
<!--<body name="gen_body_0" pos="0 0.0 0.3549998">
<geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_0" class="/" type="free"/>
</body>-->
<!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998">
<geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/>
</body>-->
<!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!-- <body name="virt_box_2" pos="0 .45 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/>
</body>
<body name="virt_box_3" pos="0 0.57243499223068691 0.3549998">
<geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/>
</body> -->
<body euler="0 0 3.911660733201063" name="gen_body_0" pos="-0.05 -0.35 0.3003150000120513"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.9150195291167045 0.9461047533671347 0.46986893253151585 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 3.407887630806603" name="gen_body_gadded_1" pos="0.06317711331521034 -0.35 0.3036467119992005"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.6870393967335926 0.16506834846409912 0.1901388661337915 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 4.8051769300015374" name="gen_body_gadded_2" pos="0.03776866928288589 0.027239622596277047 0.3004074525628104"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.3722799934957385 0.7306347161922665 0.4009590766711947 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 4.843114918956767" name="gen_body_gadded_3" pos="-0.1518084237410117 -0.4001056727727518 0.3002089912440213"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.7961212224207237 0.3647286611204871 0.7193612376484997 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body></worldbody>
<contact>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/>
<!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> -->
<!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/>
<exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/>
<exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/>
<exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/>
<exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/>
<exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/>
<exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/>
<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>-->
</contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>-->
</actuator>
</mujoco> | 116.685673 | 1,284 | 0.686655 |
e29cd536d48ed43bae052459ccc689af5aea3e15 | 4,459 | xml | XML | assets/fetch_complex_objects/fetch/train_scene_hook_823.xml | NagisaZj/ac-teach | 481811d5c80d0dbee54f16c063b4ea3262b82050 | [
"MIT"
] | 19 | 2019-10-19T09:05:08.000Z | 2022-01-27T13:36:37.000Z | assets/fetch_complex_objects/fetch/train_scene_hook_823.xml | NagisaZj/ac-teach | 481811d5c80d0dbee54f16c063b4ea3262b82050 | [
"MIT"
] | 13 | 2019-12-07T12:47:20.000Z | 2022-01-13T01:44:35.000Z | assets/fetch_complex_objects/fetch/train_scene_hook_823.xml | NagisaZj/ac-teach | 481811d5c80d0dbee54f16c063b4ea3262b82050 | [
"MIT"
] | 8 | 2019-10-24T23:36:58.000Z | 2022-01-27T13:36:39.000Z | <?xml version="1.0" encoding="utf-8"?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="../stls/fetch" texturedir="../textures"></compiler>
<option timestep="0.002">
<flag warmstart="enable"></flag>
</option>
<include file="shared.xml"></include>
<worldbody>
<geom name="floor0" pos="1.42 0.75 0" size="1.0 0.7 1" type="plane" condim="3" material="floor_mat"></geom>
<body name="floor0" pos="1.42 0.75 0">
<site name="target0" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
</body>
<include file="robot.xml"></include>
<body pos="1.65 0.75 0.2" name="table0">
<geom size="0.5 0.45 0.2" type="box" mass="20000" material="table_mat"></geom><geom size="0.04822399098562219 0.0036635028192731826 0.003684816075461117" pos="-0.2583673731550074 -0.08618734090407565 0.20368481607546113" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0416472615027105 0.021310390896485898 0.002490208572468782" pos="-0.0023610780171899326 0.0824266684204712 0.2024902085724688" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.02318269003062022 0.042978024161320814 0.0032370296372074008" pos="0.17923230956473535 0.11652584921131837 0.2032370296372074" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.012870556046036315 0.042909862408642856 0.003451922916158615" pos="0.08167356734358866 0.10319424821927425 0.20345192291615863" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03417442378669617 0.0027339618860224148 0.004674302904917498" pos="-0.26693711844269474 -0.2641664709487724 0.2046743029049175" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.026971952559159833 0.0419794483111774 0.0015483279751995836" pos="0.053049578721969914 0.11498937189744995 0.2015483279751996" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.01584594312512514 0.027786343965488486 0.0021444550139593154" pos="0.0740860693708657 0.19983324939348385 0.20214445501395933" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03828234093486626 0.04943732617815509 0.0016019725553492177" pos="0.2597389588979406 0.17404284081314098 0.20160197255534923" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.014933116910375376 0.01609056786403784 0.0025607353120919345" pos="-0.0161014456351109 -0.10265250529540715 0.20256073531209196" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
</body>
<body pos="1.375 0.67596084699395 0.4129999999999999" name="object0">
<light castshadow="false"/>
<geom type="mesh" density="686.333762201" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
<joint name="object0:joint" type="free" damping="2.5648889771150496"></joint>
<site name="object0" pos="0.0 0.009039153006050071 0.007000000000000062" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere"></site>
</body>
<body name="hook" pos="1.0 0.025 0.025">
<joint name="hook:joint" type="free" damping="0.01"></joint>
<geom size="0.4 0.015 0.015" type="box" condim="3" name="hook_base" material="block_mat" mass="2"></geom>
<geom size="0.015 0.1 0.015" pos="0.4 0.085 0." type="box" condim="3" name="hook_head" material="block_mat" mass="2"></geom>
<site name="hook" pos="-0.25 0 0" size="0.002 0.002 0.002" rgba="1 0 0 1" type="sphere"></site>
</body>
<light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false" pos="0 0 4" dir="0 0 -1" name="light0"></light>
</worldbody>
<asset>
<mesh scale="0.00148393567958 0.00148393567958 0.00148393567958" file="mujoco_models/Filament_Spool_Leveler.stl" name="object_mesh"/>
<texture file="textures/obj_textures/banded_0034.png" name="object"/>
<material specular="1" texture="object" rgba="0.9 0.9 0.9 1" shininess="0.3" name="object"/>
</asset>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1"></position>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1"></position>
</actuator>
</mujoco>
| 76.87931 | 283 | 0.675039 |
e29edbc92a235c4886c1b393ad9824f890bf7df3 | 1,770 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/8302_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8302_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8302_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/830/830.stl" name="obj0" scale="0.011880295867278328 0.011880295867278328 0.011880295867278328" />
</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="0.031831007400453366 0.09995366342931568 0.03685869515015415">
<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="0.0005976267952143632 -0.008746650027610808 -0.0006067641759621416" rgba="1 0 0 0" size="0.015915503700226683 0.04997683171465784 0.018429347575077075" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.170732 | 200 | 0.670621 |
e29efee90561974876688c39305dde60053fa924 | 1,548 | xml | XML | dm_control/suite/cartpole.xml | rdaems/dm_control | c682e626fde95a98b53f67f07b0c1021e4200bb8 | [
"Apache-2.0"
] | null | null | null | dm_control/suite/cartpole.xml | rdaems/dm_control | c682e626fde95a98b53f67f07b0c1021e4200bb8 | [
"Apache-2.0"
] | null | null | null | dm_control/suite/cartpole.xml | rdaems/dm_control | c682e626fde95a98b53f67f07b0c1021e4200bb8 | [
"Apache-2.0"
] | null | null | null | <mujoco model="cart-pole">
<include file="./common/skybox.xml"/>
<include file="./common/visual.xml"/>
<include file="./common/materials.xml"/>
<option timestep="0.01" integrator="RK4">
<flag contact="disable" energy="enable"/>
</option>
<default>
<default class="pole">
<joint type="hinge" axis="0 1 0" damping="0"/>
<geom type="capsule" fromto="0 0 0 0 0 1" size="0.09" material="self" mass=".1"/>
</default>
</default>
<worldbody>
<light name="light" pos="0 0 6"/>
<camera name="fixed" pos="0 -6 1" zaxis="0 -1 0"/>
<camera name="lookatcart" mode="targetbody" target="cart" pos="0 -2 2"/>
<geom name="floor" pos="0 0 -.20" size="4 4 .2" type="plane" material="grid"/>
<geom name="rail1" type="capsule" pos="0 .07 1" zaxis="1 0 0" size="0.02 4" material="decoration" />
<geom name="rail2" type="capsule" pos="0 -.07 1" zaxis="1 0 0" size="0.02 4" material="decoration" />
<body name="cart" pos="0 0 1">
<joint name="slider" type="slide" limited="false" axis="1 0 0" range="-1.8 1.8" solreflimit=".08 1" damping="0"/>
<geom name="cart" type="box" size="0.2 0.15 0.1" material="decoration" mass="1"/>
<body name="pole_1" childclass="pole">
<joint name="hinge_1"/>
<geom name="pole_1"/>
</body>
</body>
</worldbody>
<actuator>
<motor name="slide" joint="slider" gear="4" ctrllimited="true" ctrlrange="-3 3" />
<motor name="torque" joint="hinge_1" gear="1" ctrlrange="-3 3" ctrllimited="true"/>
</actuator>
</mujoco>
| 39.692308 | 119 | 0.597545 |
e2a10687acf3756882c28daa092da6c8f355e48c | 1,457 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/1651_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1651_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1651_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/165/165.stl" name="obj0" scale="0.004927766243677573 0.004927766243677573 0.004927766243677573" />
</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="0.026685258622893504 0.046295006259750665 0.23034454145507172">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.342105 | 155 | 0.61908 |
e2a2043251ed94aa77460b7f2216d82dff84267c | 1,759 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7591_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7591_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7591_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/759/759.stl" name="obj0" scale="0.00486975826252054 0.00486975826252054 0.00486975826252054" />
</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="0.020531811479581687 0.0331860877243466 0.03228321749832137">
<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="0.004089283035237891 0.005984168079147115 0.0102270324192768" rgba="1 0 0 0" size="0.010265905739790844 0.0165930438621733 0.016141608749160687" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 42.902439 | 193 | 0.669699 |
e2a2abdd53ee1b5c98a510f67d01aee276fc716c | 1,456 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/9613_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9613_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9613_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/961/961.stl" name="obj0" scale="0.003419185479277029 0.003419185479277029 0.003419185479277029" />
</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="0.027630369474328086 0.025917537056447955 0.2195042717189397">
<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 |
e2a7c19cb6ea7528c646a8622198d30652131684 | 1,768 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7083_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7083_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7083_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/708/708.stl" name="obj0" scale="0.011253376019835296 0.011253376019835296 0.011253376019835296" />
</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="0.027446016322040582 0.07893218095359053 0.023400422016221785">
<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="-0.00260333627540267 0.00912043129613863 -0.002794147812772907" rgba="1 0 0 0" size="0.013723008161020291 0.039466090476795265 0.011700211008110892" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.121951 | 197 | 0.670249 |
e2a8fd298b7e30310ba2d000a1d80d091c3273bc | 77,293 | xml | XML | herb_reconf/cluttered_scenes/grasping_014_lemon_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/grasping_014_lemon_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/grasping_014_lemon_0_0.2_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="10" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/>
<size nconmax="10000" njmax="10000"/>
<visual>
<global offheight="800" offwidth="800"/>
<quality shadowsize="2048"/>
<headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/>
<map force="0.1" zfar="30.0"/>
<rgba haze="0.1499999 0.25 0.3499998 1"/>
</visual>
<statistic center="0.2 0 0.5" extent="10.0"/>
<default>
<default class="/"/>
<default class="geom0">
<geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/>
</default>
<default class="herb/">
<joint damping="1.0"/>
<default class="herb/viz">
<geom conaffinity="0" contype="0" group="1"/>
</default>
</default>
<default class="herb/wam/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
</default>
<default class="herb/wam/bhand/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/bhand/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
<default class="herb/wam/bhand/viz">
<geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam_1/col">
<geom conaffinity="1" condim="4" contype="1" friction="2 0.1 0.02" group="0" priority="10" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/bhand/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/bhand/col">
<geom conaffinity="1" condim="4" contype="4" friction="2 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/>
</default>
<default class="herb/wam_1/bhand/viz">
<geom conaffinity="0" condim="4" contype="4" friction="2 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/>
</default>
</default>
</default>
<asset>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concrete_2d" type="2d"/>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concretecube" type="cube"/>
<material class="/" name="concrete_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concrete_2d"/>
<material class="/" name="concretecube" rgba="0.8 0.8 0.8 1" texture="concretecube"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marble2d" type="2d"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marblecube" type="cube"/>
<material class="/" name="marble_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="marble2d"/>
<material class="/" name="marblecube" rgba="0.8 0.8 0.8 1" texture="marblecube"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplain_2d" type="2d"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplaincube" type="cube"/>
<material class="/" name="concreteplain_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concreteplain_2d"/>
<material class="/" name="concreteplaincube" rgba="0.8 0.8 0.8 1" texture="concreteplaincube"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="wood2d" type="2d"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="ycb_objects/014_lemon/google_16k/nontextured.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/003_cracker_box/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="0.7638515982905985 0.7638515982905985 0.7638515982905985"/><mesh class="geom0" file="ycb_objects/021_bleach_cleanser/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="1.4153913960875133 1.4153913960875133 1.4153913960875133"/><mesh class="geom0" file="ycb_objects/015_peach/google_16k/nontextured.stl" name="gen_mesh_gadded_3" scale="0.5045928203351726 0.5045928203351726 0.5045928203351726"/><mesh class="geom0" file="ycb_objects/012_strawberry/google_16k/nontextured.stl" name="gen_mesh_gadded_4" scale="1.8951059934505143 1.8951059934505143 1.8951059934505143"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="cam_target"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="table"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" name="table_plane" pos="0 0 0.3" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.6999996 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="0 0 0.45">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_8" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_10" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>-->
</body>
<light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/>
</body>
<!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998">
<geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/>
<joint name="//unnamed_joint_2" class="/" type="free"/>
</body>
<body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998">
<geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/>
<joint name="//unnamed_joint_3" class="/" type="free"/>
</body>
<body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998">
<geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/>
<joint name="//unnamed_joint_4" class="/" type="free"/>
</body> -->
<!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/>
<joint name="//unnamed_joint_5" class="/" type="free"/>
</body>-->
<!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998">
<geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/>
<joint name="//unnamed_joint_6" class="/" type="free"/>
</body>-->
<!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325">
<geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/>
<joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/>
</body>
<body name="target_obj" pos="0 0.0 0.325">
<geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/>
</body>-->
<!--<body name="gen_body_0" pos="0 0.0 0.3549998" euler="0 0 0.5">
<geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_0" class="/" type="free"/>
</body>
<body name="box_0" pos="0.175 0.0 0.3725">
<geom name="box_geom_0" class="/" type="box" group="1" size="0.055 0.055 0.065" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="target_obj" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_15" class="geom0" type="box" contype="0" conaffinity="0" group="1" size="0.055 0.055 0.055" rgba="0 0 0 0.1666"/>
</body>-->
<!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!-- <body name="virt_box_2" pos="0 .45 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/>
</body>
<body name="virt_box_3" pos="0 0.57243499223068691 0.3549998">
<geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/>
</body> -->
<body euler="0 0 2.9513797356051588" name="gen_body_0" pos="0 0 0.30023499999952036"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.6767344140242186 0.9934838666225251 0.3715982697155008 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 5.483436027099012" name="gen_body_gadded_1" pos="0.20039912270713006 0.0 0.30373288790331654"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.4556497074812952 0.4087661693753981 0.19677924913081224 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 2.787908929638154" name="gen_body_gadded_2" pos="0.4068597547662467 -0.2178745769175815 0.3030386365075606"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.22884935622606328 0.7665066121755715 0.28885370202269245 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 4.725980966190258" name="gen_body_gadded_3" pos="0.44474508529435686 -0.04167763652649738 0.30020906334097636"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.558328731241744 0.2525997063702464 0.023230000409653395 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 0.5233125203085381" name="gen_body_gadded_4" pos="0.2781075358191211 0.38549487772221996 0.3002661329958132"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.010730829188655089 0.5612412224077353 0.3570604511405212 1" type="mesh"/><joint class="/" name="gen_joint_gadded_4" type="free"/></body></worldbody>
<contact>
<!--<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="box_geom_0" geom2="table_plane"/>-->
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/>
<!--<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>-->
<!--<pair geom1="//unnamed_geom_8" geom2="tabletop" friction="1 1 0.005 0.0001 0.0001" />-->
<!-- <pair geom1="//unnamed_geom_9" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> -->
</contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="10000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="10000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="10000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="10000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>-->
</actuator>
</mujoco> | 121.339089 | 1,614 | 0.684758 |
e2ab38a53bd289aea809c948a5265ddecf8e5118 | 90,256 | xml | XML | herb_reconf/cluttered_scenes/hard_pushing_035_power_drill_3_0.7_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/hard_pushing_035_power_drill_3_0.7_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/hard_pushing_035_power_drill_3_0.7_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="5" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/>
<size nconmax="10000" njmax="10000"/>
<visual>
<global offheight="800" offwidth="800"/>
<quality shadowsize="2048"/>
<headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/>
<map force="0.1" zfar="30.0"/>
<rgba haze="0.1499999 0.25 0.3499998 1"/>
</visual>
<statistic center="0.2 0 0.5" extent="10.0"/>
<default>
<default class="/"/>
<default class="geom0">
<geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/>
</default>
<default class="herb/">
<joint damping="1.0"/>
<default class="herb/viz">
<geom conaffinity="0" contype="0" group="1"/>
</default>
</default>
<default class="herb/wam/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
</default>
<default class="herb/wam/bhand/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/bhand/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
<default class="herb/wam/bhand/viz">
<geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam_1/col">
<geom conaffinity="1" condim="4" contype="1" group="0" priority="10" type="mesh"/><!-- friction="1 0.1 0.02" -->
</default>
</default>
<default class="herb/wam_1/bhand/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/bhand/col">
<geom conaffinity="1" condim="4" contype="4" friction="1 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/> <!-- -->
</default>
<default class="herb/wam_1/bhand/viz">
<geom conaffinity="0" condim="4" contype="4" friction="1 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/><!-- -->
</default>
</default>
</default>
<asset>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concrete_2d" type="2d"/>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concretecube" type="cube"/>
<material class="/" name="concrete_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concrete_2d"/>
<material class="/" name="concretecube" rgba="0.8 0.8 0.8 1" texture="concretecube"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marble2d" type="2d"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marblecube" type="cube"/>
<material class="/" name="marble_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="marble2d"/>
<material class="/" name="marblecube" rgba="0.8 0.8 0.8 1" texture="marblecube"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplain_2d" type="2d"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplaincube" type="cube"/>
<material class="/" name="concreteplain_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concreteplain_2d"/>
<material class="/" name="concreteplaincube" rgba="0.8 0.8 0.8 1" texture="concreteplaincube"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="wood2d" type="2d"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<!--<mesh name="mustard" class="/" file="ycb_objects/006_mustard_bottle/google_16k/textured.msh"/>
<texture name="mustard_tex" type="2d" file="ycb_objects/006_mustard_bottle/google_16k/texture_map.png"/>
<material name="mustard_mat" class="/" texture="mustard_tex"/>-->
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="ycb_objects/035_power_drill/google_16k/nontextured.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/024_bowl/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="1.7295752863269154 1.7295752863269154 1.7295752863269154"/><mesh class="geom0" file="ycb_objects/018_plum/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="1.4002275488693006 1.4002275488693006 1.4002275488693006"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="table"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="cam_target"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" friction="0.67 0.005 0.0001" name="table_plane" pos="0 0 0.3" priority="20" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.5 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="-.2 -0.2 0.29">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_8" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_10" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>-->
</body>
<light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/>
</body>
<!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998">
<geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/>
<joint name="//unnamed_joint_2" class="/" type="free"/>
</body>
<body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998">
<geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/>
<joint name="//unnamed_joint_3" class="/" type="free"/>
</body>
<body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998">
<geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/>
<joint name="//unnamed_joint_4" class="/" type="free"/>
</body> -->
<!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/>
<joint name="//unnamed_joint_5" class="/" type="free"/>
</body>-->
<!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998">
<geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/>
<joint name="//unnamed_joint_6" class="/" type="free"/>
</body>-->
<!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325">
<geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/>
<joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/>
</body>
<body name="target_obj" pos="0 0.0 0.325">
<geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/>
</body>-->
<!--<body name="gen_body_0" pos="0 0.0 0.3549998">
<geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_0" class="/" type="free"/>
</body>-->
<!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998">
<geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/>
</body>-->
<!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!-- <body name="virt_box_2" pos="0 .45 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/>
</body>
<body name="virt_box_3" pos="0 0.57243499223068691 0.3549998">
<geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/>
</body> -->
<body euler="0 0 0.6564502020972661" name="gen_body_0" pos="0 0 0.3031729999464005"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.9738094563683325 0.18065267604549218 0.5062029643664651 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 2.8898543395339926" name="gen_body_gadded_1" pos="0.13373680860469925 0.008111783997162121 0.29692364870036064"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.32637838598406343 0.30293111693014707 0.2766979759593161 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 0.2524531615473677" name="gen_body_gadded_2" pos="0.188947645480093 -0.1476195508799345 0.30003653014687254"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.11959763981915061 0.37591049526769804 0.6447399191046476 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body></worldbody>
<contact>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/>
<!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> -->
<!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/>
<exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/>
<exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/>
<exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/>
<exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/>
<exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/>
<exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/>
<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>-->
<pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_0" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>-->
</actuator>
</mujoco> | 131.953216 | 10,958 | 0.688508 |
e2abb79508ddcc7cb6cea522a50cd57685c28c83 | 79,292 | xml | XML | herb_reconf/cluttered_scenes/hard_pushing_015_peach_1_0.3_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/hard_pushing_015_peach_1_0.3_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/hard_pushing_015_peach_1_0.3_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="5" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/>
<size nconmax="10000" njmax="10000"/>
<visual>
<global offheight="800" offwidth="800"/>
<quality shadowsize="2048"/>
<headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/>
<map force="0.1" zfar="30.0"/>
<rgba haze="0.1499999 0.25 0.3499998 1"/>
</visual>
<statistic center="0.2 0 0.5" extent="10.0"/>
<default>
<default class="/"/>
<default class="geom0">
<geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/>
</default>
<default class="herb/">
<joint damping="1.0"/>
<default class="herb/viz">
<geom conaffinity="0" contype="0" group="1"/>
</default>
</default>
<default class="herb/wam/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
</default>
<default class="herb/wam/bhand/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/bhand/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
<default class="herb/wam/bhand/viz">
<geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam_1/col">
<geom conaffinity="1" condim="4" contype="1" group="0" priority="10" type="mesh"/><!-- friction="1 0.1 0.02" -->
</default>
</default>
<default class="herb/wam_1/bhand/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/bhand/col">
<geom conaffinity="1" condim="4" contype="4" friction="1 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/> <!-- -->
</default>
<default class="herb/wam_1/bhand/viz">
<geom conaffinity="0" condim="4" contype="4" friction="1 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/><!-- -->
</default>
</default>
</default>
<asset>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concrete_2d" type="2d"/>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concretecube" type="cube"/>
<material class="/" name="concrete_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concrete_2d"/>
<material class="/" name="concretecube" rgba="0.8 0.8 0.8 1" texture="concretecube"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marble2d" type="2d"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marblecube" type="cube"/>
<material class="/" name="marble_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="marble2d"/>
<material class="/" name="marblecube" rgba="0.8 0.8 0.8 1" texture="marblecube"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplain_2d" type="2d"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplaincube" type="cube"/>
<material class="/" name="concreteplain_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concreteplain_2d"/>
<material class="/" name="concreteplaincube" rgba="0.8 0.8 0.8 1" texture="concreteplaincube"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="wood2d" type="2d"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<!--<mesh name="mustard" class="/" file="ycb_objects/006_mustard_bottle/google_16k/textured.msh"/>
<texture name="mustard_tex" type="2d" file="ycb_objects/006_mustard_bottle/google_16k/texture_map.png"/>
<material name="mustard_mat" class="/" texture="mustard_tex"/>-->
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="ycb_objects/015_peach/google_16k/nontextured.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/006_mustard_bottle/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="1.454698593268414 1.454698593268414 1.454698593268414"/><mesh class="geom0" file="ycb_objects/015_peach/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="1.7218658671091838 1.7218658671091838 1.7218658671091838"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="table"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="cam_target"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" friction="0.67 0.005 0.0001" name="table_plane" pos="0 0 0.3" priority="20" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.5 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="-.2 -0.2 0.29">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_8" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_10" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>-->
</body>
<light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/>
</body>
<!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998">
<geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/>
<joint name="//unnamed_joint_2" class="/" type="free"/>
</body>
<body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998">
<geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/>
<joint name="//unnamed_joint_3" class="/" type="free"/>
</body>
<body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998">
<geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/>
<joint name="//unnamed_joint_4" class="/" type="free"/>
</body> -->
<!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/>
<joint name="//unnamed_joint_5" class="/" type="free"/>
</body>-->
<!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998">
<geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/>
<joint name="//unnamed_joint_6" class="/" type="free"/>
</body>-->
<!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325">
<geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/>
<joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/>
</body>
<body name="target_obj" pos="0 0.0 0.325">
<geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/>
</body>-->
<!--<body name="gen_body_0" pos="0 0.0 0.3549998">
<geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_0" class="/" type="free"/>
</body>-->
<!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998">
<geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/>
</body>-->
<!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!-- <body name="virt_box_2" pos="0 .45 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/>
</body>
<body name="virt_box_3" pos="0 0.57243499223068691 0.3549998">
<geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/>
</body> -->
<body euler="0 0 4.193702578158908" name="gen_body_0" pos="0 0 0.30021499999274964"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.362159788055445 0.7469863976494561 0.1634607477464166 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 6.200709456890641" name="gen_body_gadded_1" pos="0.24692493417055233 0.0 0.30609536424989353"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.18907964907625407 0.32500771982326915 0.0220632906187771 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 3.3490740748115972" name="gen_body_gadded_2" pos="0.6099509396745588 -0.23451093614283072 0.30071340491496446"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.4391804463277378 0.3429040295701411 0.4810544671625021 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body></worldbody>
<contact>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/>
<!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> -->
<!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/>
<exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/>
<exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/>
<exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/>
<exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/>
<exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/>
<exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/>
<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>-->
</contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>-->
</actuator>
</mujoco> | 115.923977 | 941 | 0.68592 |
e2ad4ae0ba0fa561868cfd3267fbb85d358d5331 | 104,212 | xml | XML | herb_reconf/cluttered_scenes/hard_pushing_cardboard_box_4_0.7_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/hard_pushing_cardboard_box_4_0.7_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/hard_pushing_cardboard_box_4_0.7_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="5" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/>
<size nconmax="10000" njmax="10000"/>
<visual>
<global offheight="800" offwidth="800"/>
<quality shadowsize="2048"/>
<headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/>
<map force="0.1" zfar="30.0"/>
<rgba haze="0.1499999 0.25 0.3499998 1"/>
</visual>
<statistic center="0.2 0 0.5" extent="10.0"/>
<default>
<default class="/"/>
<default class="geom0">
<geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/>
</default>
<default class="herb/">
<joint damping="1.0"/>
<default class="herb/viz">
<geom conaffinity="0" contype="0" group="1"/>
</default>
</default>
<default class="herb/wam/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
</default>
<default class="herb/wam/bhand/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/bhand/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
<default class="herb/wam/bhand/viz">
<geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam_1/col">
<geom conaffinity="1" condim="4" contype="1" group="0" priority="10" type="mesh"/><!-- friction="1 0.1 0.02" -->
</default>
</default>
<default class="herb/wam_1/bhand/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/bhand/col">
<geom conaffinity="1" condim="4" contype="4" friction="1 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/> <!-- -->
</default>
<default class="herb/wam_1/bhand/viz">
<geom conaffinity="0" condim="4" contype="4" friction="1 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/><!-- -->
</default>
</default>
</default>
<asset>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concrete_2d" type="2d"/>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concretecube" type="cube"/>
<material class="/" name="concrete_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concrete_2d"/>
<material class="/" name="concretecube" rgba="0.8 0.8 0.8 1" texture="concretecube"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marble2d" type="2d"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marblecube" type="cube"/>
<material class="/" name="marble_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="marble2d"/>
<material class="/" name="marblecube" rgba="0.8 0.8 0.8 1" texture="marblecube"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplain_2d" type="2d"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplaincube" type="cube"/>
<material class="/" name="concreteplain_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concreteplain_2d"/>
<material class="/" name="concreteplaincube" rgba="0.8 0.8 0.8 1" texture="concreteplaincube"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="wood2d" type="2d"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<!--<mesh name="mustard" class="/" file="ycb_objects/006_mustard_bottle/google_16k/textured.msh"/>
<texture name="mustard_tex" type="2d" file="ycb_objects/006_mustard_bottle/google_16k/texture_map.png"/>
<material name="mustard_mat" class="/" texture="mustard_tex"/>-->
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="downloaded_assets/cardboard_box/scene.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="downloaded_assets/vase_3/scene.stl" name="gen_mesh_gadded_1" scale="1.166576188137935 1.166576188137935 1.166576188137935"/><mesh class="geom0" file="ycb_objects/057_racquetball/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="1.0328193486036232 1.0328193486036232 1.0328193486036232"/><mesh class="geom0" file="ycb_objects/013_apple/google_16k/nontextured.stl" name="gen_mesh_gadded_3" scale="1.3635189667724799 1.3635189667724799 1.3635189667724799"/><mesh class="geom0" file="ycb_objects/014_lemon/google_16k/nontextured.stl" name="gen_mesh_gadded_4" scale="0.781330913007273 0.781330913007273 0.781330913007273"/><mesh class="geom0" file="ycb_objects/002_master_chef_can/google_16k/nontextured.stl" name="gen_mesh_gadded_5" scale="1.2922385142216897 1.2922385142216897 1.2922385142216897"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="table"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="cam_target"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" friction="0.67 0.005 0.0001" name="table_plane" pos="0 0 0.3" priority="20" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.5 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="-.2 -0.2 0.29">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_8" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_10" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>-->
</body>
<light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/>
</body>
<!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998">
<geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/>
<joint name="//unnamed_joint_2" class="/" type="free"/>
</body>
<body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998">
<geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/>
<joint name="//unnamed_joint_3" class="/" type="free"/>
</body>
<body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998">
<geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/>
<joint name="//unnamed_joint_4" class="/" type="free"/>
</body> -->
<!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/>
<joint name="//unnamed_joint_5" class="/" type="free"/>
</body>-->
<!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998">
<geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/>
<joint name="//unnamed_joint_6" class="/" type="free"/>
</body>-->
<!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325">
<geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/>
<joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/>
</body>
<body name="target_obj" pos="0 0.0 0.325">
<geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/>
</body>-->
<!--<body name="gen_body_0" pos="0 0.0 0.3549998">
<geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_0" class="/" type="free"/>
</body>-->
<!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998">
<geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/>
</body>-->
<!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!-- <body name="virt_box_2" pos="0 .45 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/>
</body>
<body name="virt_box_3" pos="0 0.57243499223068691 0.3549998">
<geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/>
</body> -->
<body euler="0 0 2.985336234875601" name="gen_body_0" pos="0 0 0.3561653412878513"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.049993161460105795 0.8244763986873661 0.07321067764315103 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 3.817648530476391" name="gen_body_gadded_1" pos="0.33911502330611626 0.04226963628884013 0.49320432019976546"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.6258153820457738 0.21491486273578608 0.2902560908612958 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 0.7475888017154215" name="gen_body_gadded_2" pos="-0.22471224251081195 0.016279148861594768 0.30019703784010565"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.713527215895792 0.5714508256927626 0.6744462002552475 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 0.2353233829512211" name="gen_body_gadded_3" pos="0.32719120986836725 -0.07888983860020658 0.3006587232619103"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.1613059861852919 0.978402327721633 0.6486521185010173 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 0.06625456373323377" name="gen_body_gadded_4" pos="-0.2664921120315776 -0.02746998786188557 0.30018162889700767"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.022690217046867134 0.05520244561496601 0.3753665657701094 1" type="mesh"/><joint class="/" name="gen_joint_gadded_4" type="free"/></body><body euler="0 0 1.4647592796824294" name="gen_body_gadded_5" pos="-0.02690222816925296 0.4047608054165758 0.29988011643902934"><geom class="/" mesh="gen_mesh_gadded_5" name="gen_geom_gadded_5" rgba="0.6964060840195422 0.4852582620819881 0.9613913242455822 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"/>-->
<pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_0" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_4" solimp="0.999 0.999 0.01" solref="0.01 1"/></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> | 152.356725 | 23,417 | 0.692838 |
e2ae1a7648a50755d08e98ce0e2c97d91c0afbe9 | 4,806 | xml | XML | metagym/metalocomotion/envs/assets/ants/ant_var_tst_037.xml | WorldEditors/RLSchool | a368937ab23c8d56f8b46d6c2de74d607d7a12bb | [
"Apache-2.0"
] | null | null | null | metagym/metalocomotion/envs/assets/ants/ant_var_tst_037.xml | WorldEditors/RLSchool | a368937ab23c8d56f8b46d6c2de74d607d7a12bb | [
"Apache-2.0"
] | null | null | null | metagym/metalocomotion/envs/assets/ants/ant_var_tst_037.xml | WorldEditors/RLSchool | a368937ab23c8d56f8b46d6c2de74d607d7a12bb | [
"Apache-2.0"
] | null | null | null | <mujoco model="ant">
<compiler angle="degree" coordinate="local" inertiafromgeom="true" />
<option integrator="RK4" timestep="0.01" />
<custom>
<numeric data="0.0 0.0 0.55 1.0 0.0 0.0 0.0 0.0 1.0 0.0 -1.0 0.0 -1.0 0.0 1.0" name="init_qpos" />
</custom>
<default>
<joint armature="1" damping="1" limited="true" />
<geom conaffinity="0" condim="3" density="5.0" friction="1.5 0.1 0.1" margin="0.01" rgba="0.8 0.6 0.4 1" />
</default>
<worldbody>
<body name="torso" pos="0 0 0.75">
<geom name="torso_geom" pos="0 0 0" size="0.25" type="sphere" />
<body name="front_left_leg" pos="0 0 0">
<geom fromto="0.0 0.0 0.0 0.2351265359667347 0.2351265359667347 0.0" name="aux_1_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1" />
<body name="aux_1" pos="0.2351265359667347 0.2351265359667347 0.0">
<joint axis="0 0 1" name="hip_1" pos="0.0 0.0 0.0" range="-40 40" type="hinge" />
<geom fromto="0.0 0.0 0.0 0.18644533202837588 0.18644533202837588 0.0" name="left_leg_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1" />
<body pos="0.18644533202837588 0.18644533202837588 0.0" name="front_left_foot">
<joint axis="-1 1 0" name="ankle_1" pos="0.0 0.0 0.0" range="30 100" type="hinge" />
<geom fromto="0.0 0.0 0.0 0.4034174776781768 0.4034174776781768 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 -0.27371601101386356 0.27371601101386356 0.0" name="aux_2_geom" size="0.08" type="capsule" />
<body name="aux_2" pos="-0.27371601101386356 0.27371601101386356 0.0">
<joint axis="0 0 1" name="hip_2" pos="0.0 0.0 0.0" range="-40 40" type="hinge" />
<geom fromto="0.0 0.0 0.0 -0.26701575623750967 0.26701575623750967 0.0" name="right_leg_geom" size="0.08" type="capsule" />
<body pos="-0.26701575623750967 0.26701575623750967 0.0" name="front_right_foot">
<joint axis="1 1 0" name="ankle_2" pos="0.0 0.0 0.0" range="-100 -30" type="hinge" />
<geom fromto="0.0 0.0 0.0 -0.5147365641451657 0.5147365641451657 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 -0.21023553654793004 -0.21023553654793004 0.0" name="aux_3_geom" size="0.08" type="capsule" />
<body name="aux_3" pos="-0.21023553654793004 -0.21023553654793004 0.0">
<joint axis="0 0 1" name="hip_3" pos="0.0 0.0 0.0" range="-40 40" type="hinge" />
<geom fromto="0.0 0.0 0.0 -0.18599862915588938 -0.18599862915588938 0.0" name="back_leg_geom" size="0.08" type="capsule" />
<body pos="-0.18599862915588938 -0.18599862915588938 0.0" name="left_back_foot">
<joint axis="-1 1 0" name="ankle_3" pos="0.0 0.0 0.0" range="-100 -30" type="hinge" />
<geom fromto="0.0 0.0 0.0 -0.4015892893109908 -0.4015892893109908 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 0.28353714287126935 -0.28353714287126935 0.0" name="aux_4_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1" />
<body name="aux_4" pos="0.28353714287126935 -0.28353714287126935 0.0">
<joint axis="0 0 1" name="hip_4" pos="0.0 0.0 0.0" range="-40 40" type="hinge" />
<geom fromto="0.0 0.0 0.0 0.19890830579513535 -0.19890830579513535 0.0" name="rightback_leg_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1" />
<body pos="0.19890830579513535 -0.19890830579513535 0.0" name="right_back_foot">
<joint axis="1 1 0" name="ankle_4" pos="0.0 0.0 0.0" range="30 100" type="hinge" />
<geom fromto="0.0 0.0 0.0 0.4378539041010891 -0.4378539041010891 0.0" name="fourth_ankle_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1" />
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_4" gear="150" />
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_4" gear="150" />
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_1" gear="150" />
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_1" gear="150" />
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_2" gear="150" />
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_2" gear="150" />
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_3" gear="150" />
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_3" gear="150" />
</actuator>
</mujoco> | 67.690141 | 155 | 0.609447 |
e2ae8c90feaff9c8085cb04dd042cd7c6c3aa788 | 1,767 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/8249_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8249_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8249_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/824/824.stl" name="obj0" scale="0.008860470154818851 0.008860470154818851 0.008860470154818851" />
</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="0.03200536499066922 0.07264665367125879 0.02098571787546811">
<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="0.0024831016614346364 0.009123843818478581 0.0014888211589520954" rgba="1 0 0 0" size="0.01600268249533461 0.036323326835629395 0.010492858937734054" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.097561 | 198 | 0.671194 |
e2afc481ebf9ba4868591683881ac18b02b0eb65 | 1,764 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/4061_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4061_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4061_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/406/406.stl" name="obj0" scale="0.004446366392949384 0.004446366392949384 0.004446366392949384" />
</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="0.017854642140139047 0.03868078204795338 0.02480908598664176">
<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="0.003665462091120524 0.01651217025634339 0.001017348040442497" rgba="1 0 0 0" size="0.008927321070069523 0.01934039102397669 0.01240454299332088" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.02439 | 194 | 0.670635 |
e2afc6ac1f9e428b9983209779612c64d68ca004 | 80,326 | xml | XML | herb_reconf/cluttered_scenes/easy_pushing_015_peach_2_0.4_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_015_peach_2_0.4_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_015_peach_2_0.4_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="5" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/>
<size nconmax="10000" njmax="10000"/>
<visual>
<global offheight="800" offwidth="800"/>
<quality shadowsize="2048"/>
<headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/>
<map force="0.1" zfar="30.0"/>
<rgba haze="0.1499999 0.25 0.3499998 1"/>
</visual>
<statistic center="0.2 0 0.5" extent="10.0"/>
<default>
<default class="/"/>
<default class="geom0">
<geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/>
</default>
<default class="herb/">
<joint damping="1.0"/>
<default class="herb/viz">
<geom conaffinity="0" contype="0" group="1"/>
</default>
</default>
<default class="herb/wam/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
</default>
<default class="herb/wam/bhand/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/bhand/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
<default class="herb/wam/bhand/viz">
<geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam_1/col">
<geom conaffinity="1" condim="4" contype="1" group="0" priority="10" type="mesh"/><!-- friction="1 0.1 0.02" -->
</default>
</default>
<default class="herb/wam_1/bhand/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/bhand/col">
<geom conaffinity="1" condim="4" contype="4" friction="1 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/> <!-- -->
</default>
<default class="herb/wam_1/bhand/viz">
<geom conaffinity="0" condim="4" contype="4" friction="1 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/><!-- -->
</default>
</default>
</default>
<asset>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concrete_2d" type="2d"/>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concretecube" type="cube"/>
<material class="/" name="concrete_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concrete_2d"/>
<material class="/" name="concretecube" rgba="0.8 0.8 0.8 1" texture="concretecube"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marble2d" type="2d"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marblecube" type="cube"/>
<material class="/" name="marble_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="marble2d"/>
<material class="/" name="marblecube" rgba="0.8 0.8 0.8 1" texture="marblecube"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplain_2d" type="2d"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplaincube" type="cube"/>
<material class="/" name="concreteplain_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concreteplain_2d"/>
<material class="/" name="concreteplaincube" rgba="0.8 0.8 0.8 1" texture="concreteplaincube"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="wood2d" type="2d"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<!--<mesh name="mustard" class="/" file="ycb_objects/006_mustard_bottle/google_16k/textured.msh"/>
<texture name="mustard_tex" type="2d" file="ycb_objects/006_mustard_bottle/google_16k/texture_map.png"/>
<material name="mustard_mat" class="/" texture="mustard_tex"/>-->
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="ycb_objects/015_peach/google_16k/nontextured.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/006_mustard_bottle/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="1.963912505757964 1.963912505757964 1.963912505757964"/><mesh class="geom0" file="ycb_objects/013_apple/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="1.0104320664190132 1.0104320664190132 1.0104320664190132"/><mesh class="geom0" file="ycb_objects/005_tomato_soup_can/google_16k/nontextured.stl" name="gen_mesh_gadded_3" scale="1.4376457733950887 1.4376457733950887 1.4376457733950887"/><mesh class="geom0" file="ycb_objects/005_tomato_soup_can/google_16k/nontextured.stl" name="gen_mesh_gadded_4" scale="0.562748456488569 0.562748456488569 0.562748456488569"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="2 -1.5 2" target="table"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="cam_target"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" friction="0.67 0.005 0.0001" name="table_plane" pos="0 0 0.3" priority="20" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.5 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="-.2 -0.2 0.29">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_8" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_10" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>-->
</body>
<light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/>
</body>
<!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998">
<geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/>
<joint name="//unnamed_joint_2" class="/" type="free"/>
</body>
<body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998">
<geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/>
<joint name="//unnamed_joint_3" class="/" type="free"/>
</body>
<body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998">
<geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/>
<joint name="//unnamed_joint_4" class="/" type="free"/>
</body> -->
<!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/>
<joint name="//unnamed_joint_5" class="/" type="free"/>
</body>-->
<!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998">
<geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/>
<joint name="//unnamed_joint_6" class="/" type="free"/>
</body>-->
<!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325">
<geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/>
<joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/>
</body>
<body name="target_obj" pos="0 0.0 0.325">
<geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/>
</body>-->
<!--<body name="gen_body_0" pos="0 0.0 0.3549998">
<geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_0" class="/" type="free"/>
</body>-->
<!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998">
<geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/>
</body>-->
<!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!-- <body name="virt_box_2" pos="0 .45 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/>
</body>
<body name="virt_box_3" pos="0 0.57243499223068691 0.3549998">
<geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/>
</body> -->
<body euler="0 0 0.5600659273855081" name="gen_body_0" pos="-0.05 -0.35 0.30021499999274964"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.5000601066257911 0.5487704473679522 0.8137271191956433 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 1.591193811933177" name="gen_body_gadded_1" pos="-0.0008910063270612886 -0.35 0.30822903155812015"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.7975235102086431 0.7708129600909037 0.23177330629677229 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 3.6250053040534715" name="gen_body_gadded_2" pos="0.3461923998443926 -0.34946811854176013 0.300488145155312"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.7292791215261512 0.8540398524298524 0.2762573097768046 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 2.258548073492304" name="gen_body_gadded_3" pos="-0.002720898281619434 0.06162380966474279 0.30106695727113475"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.9971358778938368 0.37915041700407237 0.4113791345535338 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 5.396446405499946" name="gen_body_gadded_4" pos="-0.36669959368614335 0.07088068965204125 0.300417647474404"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.7694594530427118 0.6233973540944574 0.10394090619295826 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> | 117.435673 | 1,626 | 0.687411 |
e2b3dbd6f857ac1a878a1842baa7f4c9335ea684 | 1,767 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/9135_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9135_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9135_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/913/913.stl" name="obj0" scale="0.004603972457129801 0.004603972457129801 0.004603972457129801" />
</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="0.03382353484560488 0.03506348591570399 0.03060655743289623">
<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="-0.014371116379767675 -0.017779215539953496 0.012595873306173235" rgba="1 0 0 0" size="0.01691176742280244 0.017531742957851995 0.015303278716448114" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.097561 | 198 | 0.670062 |
e2b3eceb0f63a0db654c1225d400dab88e5c81f8 | 2,716 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3902_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3902_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3902_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/390/390.stl" name="obj0" scale="0.006251528694125986 0.006251528694125986 0.006251528694125986" />
</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="0.022572750993016262 0.04 0.039335812585421286" zaxis="1.0 0.0 0.0">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="1.0 0.0 0.0" />
<geom condim="3" mass="2" material="block_mat" pos="0.009819004938530019 -0.015275484392325497 0.040000383119701784" size="0.026841137837574962 0.029866583725541282 0.05281914641679572" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="0.0048361983406150725 -0.012165671782225912 0.00975398769592233" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.009819004938530019 -0.015275484392325497 0.03000038311970178" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.296296 | 222 | 0.657216 |
e2b77eb888570958cd72b65fa92e66bbe102e997 | 2,716 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/6620_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6620_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6620_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/662/662.stl" name="obj0" scale="0.00580236604530821 0.00580236604530821 0.00580236604530821" />
</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="0.016990598498826365 0.04 0.01735870640310676" zaxis="1.0 0.0 0.0">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="1.0 0.0 0.0" />
<geom condim="3" mass="2" material="block_mat" pos="-0.00012525907775297448 0.015531014240675026 0.03703974917022793" size="0.016697857137483653 0.017136449801100392 0.05344280122327944" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="-0.0004814212056497826 0.01566245622291922 0.0005875464457748571" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.00012525907775297448 0.015531014240675026 0.02703974917022793" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.296296 | 223 | 0.657216 |
e2b7f90bb8d0168dd73b7d0663762cdde48f20ff | 2,718 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7086_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7086_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7086_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/708/708.stl" name="obj0" scale="0.005702807591976663 0.005702807591976663 0.005702807591976663" />
</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="0.013908657275378171 0.04 0.011858495094658765" 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="-0.000833250773445975 0.004794060299901572 0.027502209179353643" size="0.012092942607860209 0.01367586321991432 0.04077667822989019" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="-0.0013192775083376166 0.004621907660958278 -0.0014159739558777791" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.000833250773445975 0.004794060299901572 0.01750220917935364" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.333333 | 221 | 0.657101 |
e2b808500ba1e53167c6415736e705da73160981 | 1,458 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/8671_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8671_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8671_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/867/867.stl" name="obj0" scale="0.0039962925816481665 0.0039962925816481665 0.0039962925816481665" />
</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="0.02391076763548912 0.024695255854436982 0.2263417583702704">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.368421 | 155 | 0.619342 |
e2bb0a7d9fd65a79231a20b5adcec9b80cae6c31 | 1,770 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/8839_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8839_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8839_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/883/883.stl" name="obj0" scale="0.003622068423998332 0.003622068423998332 0.003622068423998332" />
</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="0.00945247755645842 0.024670498433005752 0.021356113855420807">
<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="-0.0005226112249659103 0.008429658767993772 -0.005456523567804388" rgba="1 0 0 0" size="0.00472623877822921 0.012335249216502876 0.010678056927710403" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.170732 | 199 | 0.670621 |
e2bc112e2535cfd4415b0623cbf538394cf0e17e | 2,019 | xml | XML | custom_vendor/dm_control/dm_control/suite/ball_in_cup.xml | geyang/dmc_generalization | 051fefc470931810c856e89629d481b06cc8d530 | [
"MIT"
] | 75 | 2020-11-30T07:59:09.000Z | 2022-03-30T21:26:53.000Z | custom_vendor/dm_control/dm_control/suite/ball_in_cup.xml | geyang/dmc_generalization | 051fefc470931810c856e89629d481b06cc8d530 | [
"MIT"
] | 12 | 2021-02-02T09:03:44.000Z | 2022-03-29T19:17:39.000Z | custom_vendor/dm_control/dm_control/suite/ball_in_cup.xml | geyang/dmc_generalization | 051fefc470931810c856e89629d481b06cc8d530 | [
"MIT"
] | 18 | 2020-12-04T03:48:34.000Z | 2022-03-21T15:10:08.000Z | <mujoco model="ball in cup">
<include file="./common/visual.xml"/>
<include file="./common/skybox.xml"/>
<include file="./common/materials.xml"/>
<default>
<motor ctrllimited="true" ctrlrange="-1 1" gear="5"/>
<default class="cup">
<joint type="slide" damping="3" stiffness="20"/>
<geom type="capsule" size=".008" material="self"/>
</default>
</default>
<worldbody>
<light name="light" directional="true" diffuse=".6 .6 .6" pos="0 0 2" specular=".3 .3 .3"/>
<geom name="ground" type="plane" pos="0 0 0" size=".6 .2 10" material="grid"/>
<camera name="cam0" pos="0 -1 .8" xyaxes="1 0 0 0 1 2"/>
<camera name="cam1" pos="0 -1 .4" xyaxes="1 0 0 0 0 1" />
<body name="cup" pos="0 0 .6" childclass="cup">
<joint name="cup_x" axis="1 0 0"/>
<joint name="cup_z" axis="0 0 1"/>
<geom name="cup_part_0" fromto="-.05 0 0 -.05 0 -.075" />
<geom name="cup_part_1" fromto="-.05 0 -.075 -.025 0 -.1" />
<geom name="cup_part_2" fromto="-.025 0 -.1 .025 0 -.1" />
<geom name="cup_part_3" fromto=".025 0 -.1 .05 0 -.075" />
<geom name="cup_part_4" fromto=".05 0 -.075 .05 0 0" />
<site name="cup" pos="0 0 -.108" size=".005"/>
<site name="target" type="box" pos="0 0 -.05" size=".05 .006 .05" group="4"/>
</body>
<body name="ball" pos="0 0 .2">
<joint name="ball_x" type="slide" axis="1 0 0"/>
<joint name="ball_z" type="slide" axis="0 0 1"/>
<geom name="ball" type="sphere" size=".025" material="effector"/>
<site name="ball" size=".005"/>
</body>
<!-- <body name='distractor'>
<site name="distractor_1" type="sphere" size=".075" pos="-.2 .15 .075" material="target"/>
</body> -->
</worldbody>
<actuator>
<motor name="x" joint="cup_x"/>
<motor name="z" joint="cup_z"/>
</actuator>
<tendon>
<spatial name="string" limited="true" range="0 0.3" width="0.003">
<site site="ball"/>
<site site="cup"/>
</spatial>
</tendon>
</mujoco>
| 34.220339 | 96 | 0.557207 |
e2c0cc49f8bc2533c0dbb73de69e9144f214d479 | 1,763 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/8625_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8625_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8625_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/862/862.stl" name="obj0" scale="0.0042480645746586 0.0042480645746586 0.0042480645746586" />
</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="0.014856191244365094 0.04990271336513711 0.025805218724091077">
<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="0.000423929218138382 -0.023456151964291974 0.009468018459873715" rgba="1 0 0 0" size="0.007428095622182547 0.024951356682568555 0.012902609362045538" 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 | 198 | 0.669881 |
e2c2344470354df728252623db254027693784e4 | 76,269 | xml | XML | herb_reconf/cluttered_scenes/grasping_011_banana_0_0.9_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/grasping_011_banana_0_0.9_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/grasping_011_banana_0_0.9_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="10" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/>
<size nconmax="10000" njmax="10000"/>
<visual>
<global offheight="800" offwidth="800"/>
<quality shadowsize="2048"/>
<headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/>
<map force="0.1" zfar="30.0"/>
<rgba haze="0.1499999 0.25 0.3499998 1"/>
</visual>
<statistic center="0.2 0 0.5" extent="10.0"/>
<default>
<default class="/"/>
<default class="geom0">
<geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/>
</default>
<default class="herb/">
<joint damping="1.0"/>
<default class="herb/viz">
<geom conaffinity="0" contype="0" group="1"/>
</default>
</default>
<default class="herb/wam/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
</default>
<default class="herb/wam/bhand/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/bhand/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
<default class="herb/wam/bhand/viz">
<geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam_1/col">
<geom conaffinity="1" condim="4" contype="1" friction="2 0.1 0.02" group="0" priority="10" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/bhand/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/bhand/col">
<geom conaffinity="1" condim="4" contype="4" friction="2 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/>
</default>
<default class="herb/wam_1/bhand/viz">
<geom conaffinity="0" condim="4" contype="4" friction="2 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/>
</default>
</default>
</default>
<asset>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concrete_2d" type="2d"/>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concretecube" type="cube"/>
<material class="/" name="concrete_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concrete_2d"/>
<material class="/" name="concretecube" rgba="0.8 0.8 0.8 1" texture="concretecube"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marble2d" type="2d"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marblecube" type="cube"/>
<material class="/" name="marble_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="marble2d"/>
<material class="/" name="marblecube" rgba="0.8 0.8 0.8 1" texture="marblecube"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplain_2d" type="2d"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplaincube" type="cube"/>
<material class="/" name="concreteplain_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concreteplain_2d"/>
<material class="/" name="concreteplaincube" rgba="0.8 0.8 0.8 1" texture="concreteplaincube"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="wood2d" type="2d"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="ycb_objects/011_banana/google_16k/nontextured.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/014_lemon/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="1.076578708626398 1.076578708626398 1.076578708626398"/><mesh class="geom0" file="ycb_objects/004_sugar_box/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="1.0138996997481418 1.0138996997481418 1.0138996997481418"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="cam_target"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="table"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" name="table_plane" pos="0 0 0.3" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.6999996 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="0 0 0.45">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_8" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_10" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>-->
</body>
<light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/>
</body>
<!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998">
<geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/>
<joint name="//unnamed_joint_2" class="/" type="free"/>
</body>
<body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998">
<geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/>
<joint name="//unnamed_joint_3" class="/" type="free"/>
</body>
<body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998">
<geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/>
<joint name="//unnamed_joint_4" class="/" type="free"/>
</body> -->
<!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/>
<joint name="//unnamed_joint_5" class="/" type="free"/>
</body>-->
<!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998">
<geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/>
<joint name="//unnamed_joint_6" class="/" type="free"/>
</body>-->
<!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325">
<geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/>
<joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/>
</body>
<body name="target_obj" pos="0 0.0 0.325">
<geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/>
</body>-->
<!--<body name="gen_body_0" pos="0 0.0 0.3549998" euler="0 0 0.5">
<geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_0" class="/" type="free"/>
</body>
<body name="box_0" pos="0.175 0.0 0.3725">
<geom name="box_geom_0" class="/" type="box" group="1" size="0.055 0.055 0.065" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="target_obj" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_15" class="geom0" type="box" contype="0" conaffinity="0" group="1" size="0.055 0.055 0.055" rgba="0 0 0 0.1666"/>
</body>-->
<!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!-- <body name="virt_box_2" pos="0 .45 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/>
</body>
<body name="virt_box_3" pos="0 0.57243499223068691 0.3549998">
<geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/>
</body> -->
<body euler="0 0 5.997695762495488" name="gen_body_0" pos="0 0 0.30040700001409276"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.5117981524695362 0.06145480624960298 0.6639247861373062 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 1.0374618685714259" name="gen_body_gadded_1" pos="0.09383016232276546 0.0 0.30025026253534626"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.22079545786532495 0.902304923427799 0.022066867205650875 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 2.386408844514547" name="gen_body_gadded_2" pos="0.18035302237596695 -0.36286809341097837 0.301543938111714"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.5532630412107169 0.15962278455726264 0.9476184441711003 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> | 119.731554 | 943 | 0.683135 |
e2c283b04ccb554424cd53cf057006982cd6efdf | 2,727 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7721_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7721_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7721_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/772/772.stl" name="obj0" scale="0.006119594781852128 0.006119594781852128 0.006119594781852128" />
</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="0.008546038591235624 0.04 0.010434845401059503" zaxis="1.0 0.0 0.0">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="1.0 0.0 0.0" />
<geom condim="3" mass="2" material="block_mat" pos="0.00023104286215715674 0.00025852725837443707 0.040428148813418455" size="0.010006764319980412 0.01043409559456034 0.04895904533185157" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="-0.00011584659341129859 0.0002584854454559988 1.5142072802511949e-05" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.00023104286215715674 0.00025852725837443707 0.030428148813418453" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.5 | 224 | 0.658966 |
e2c2d6124d8642ec60b0a354ca4826d764c2e2d9 | 1,453 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/8091_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8091_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8091_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/809/809.stl" name="obj0" scale="0.01262357946926011 0.01262357946926011 0.01262357946926011" />
</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="0.028100334058372655 0.10275880874410655 0.23494632842898286">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.236842 | 155 | 0.618032 |
e2c678ce2721b9bba38369a376f54d6b88040af3 | 952 | xml | XML | metaworld/envs/assets_updated/sawyer_xyz/sawyer_plate_slide_sideway.xml | Simon0xzx/metaworld | 2d441eed70b6f5cb1f35883b0517c4bd2812268c | [
"MIT"
] | null | null | null | metaworld/envs/assets_updated/sawyer_xyz/sawyer_plate_slide_sideway.xml | Simon0xzx/metaworld | 2d441eed70b6f5cb1f35883b0517c4bd2812268c | [
"MIT"
] | null | null | null | metaworld/envs/assets_updated/sawyer_xyz/sawyer_plate_slide_sideway.xml | Simon0xzx/metaworld | 2d441eed70b6f5cb1f35883b0517c4bd2812268c | [
"MIT"
] | 1 | 2020-10-28T11:51:08.000Z | 2020-10-28T11:51:08.000Z | <mujoco>
<include file="../scene/basic_scene.xml"/>
<include file="../objects/assets/puck_goal_dependencies.xml"/>
<include file="../objects/assets/xyz_base_dependencies.xml"/>
<worldbody>
<include file="../objects/assets/xyz_base.xml"/>
<body name="puck" pos="0. 0.6 0.015">
<include file="../objects/assets/puck.xml"/>
</body>
<body name="puck_goal" euler="0 0 1.57" pos="-0.3 0.6 0">
<include file="../objects/assets/puck_goal.xml"/>
</body>
<site name="goal" pos="-.3 .6 0" size="0.015"
rgba="0.8 0 0 1"/>
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="-1 1" joint="r_close" kp="400" user="1"/>
<position ctrllimited="true" ctrlrange="-1 1" joint="l_close" kp="400" user="1"/>
</actuator>
<equality>
<weld body1="mocap" body2="hand" solref="0.02 1"></weld>
</equality>
</mujoco>
| 34 | 90 | 0.567227 |
e2c7378dc37639f0a6ee28f92dafa8fa8300a149 | 1,770 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/4640_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4640_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4640_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/464/464.stl" name="obj0" scale="0.005950922011777724 0.005950922011777724 0.005950922011777724" />
</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="0.016955087302622535 0.04259429261235118 0.020143088463623043">
<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="0.0008683700307240395 0.0010602210652070007 0.0017687989255991867" rgba="1 0 0 0" size="0.008477543651311268 0.02129714630617559 0.010071544231811521" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.170732 | 199 | 0.671751 |
e2c9f391900b6b94dc07c9314b329f330ef0c00e | 1,454 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/8199_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8199_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8199_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/819/819.stl" name="obj0" scale="0.011217029221209214 0.011217029221209214 0.011217029221209214" />
</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="0.02993758357816873 0.06799986332778528 0.2116920535831836">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.263158 | 155 | 0.618294 |
e2ca0f92fdf3e7678f8ba8cb9744c6bfef8428eb | 99,398 | xml | XML | herb_reconf/cluttered_scenes/hard_pushing_018_plum_4_0.7_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/hard_pushing_018_plum_4_0.7_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/hard_pushing_018_plum_4_0.7_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="5" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/>
<size nconmax="10000" njmax="10000"/>
<visual>
<global offheight="800" offwidth="800"/>
<quality shadowsize="2048"/>
<headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/>
<map force="0.1" zfar="30.0"/>
<rgba haze="0.1499999 0.25 0.3499998 1"/>
</visual>
<statistic center="0.2 0 0.5" extent="10.0"/>
<default>
<default class="/"/>
<default class="geom0">
<geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/>
</default>
<default class="herb/">
<joint damping="1.0"/>
<default class="herb/viz">
<geom conaffinity="0" contype="0" group="1"/>
</default>
</default>
<default class="herb/wam/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
</default>
<default class="herb/wam/bhand/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/bhand/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
<default class="herb/wam/bhand/viz">
<geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam_1/col">
<geom conaffinity="1" condim="4" contype="1" group="0" priority="10" type="mesh"/><!-- friction="1 0.1 0.02" -->
</default>
</default>
<default class="herb/wam_1/bhand/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/bhand/col">
<geom conaffinity="1" condim="4" contype="4" friction="1 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/> <!-- -->
</default>
<default class="herb/wam_1/bhand/viz">
<geom conaffinity="0" condim="4" contype="4" friction="1 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/><!-- -->
</default>
</default>
</default>
<asset>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concrete_2d" type="2d"/>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concretecube" type="cube"/>
<material class="/" name="concrete_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concrete_2d"/>
<material class="/" name="concretecube" rgba="0.8 0.8 0.8 1" texture="concretecube"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marble2d" type="2d"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marblecube" type="cube"/>
<material class="/" name="marble_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="marble2d"/>
<material class="/" name="marblecube" rgba="0.8 0.8 0.8 1" texture="marblecube"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplain_2d" type="2d"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplaincube" type="cube"/>
<material class="/" name="concreteplain_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concreteplain_2d"/>
<material class="/" name="concreteplaincube" rgba="0.8 0.8 0.8 1" texture="concreteplaincube"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="wood2d" type="2d"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<!--<mesh name="mustard" class="/" file="ycb_objects/006_mustard_bottle/google_16k/textured.msh"/>
<texture name="mustard_tex" type="2d" file="ycb_objects/006_mustard_bottle/google_16k/texture_map.png"/>
<material name="mustard_mat" class="/" texture="mustard_tex"/>-->
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="ycb_objects/018_plum/google_16k/nontextured.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="downloaded_assets/potted_plant_3/scene.stl" name="gen_mesh_gadded_1" scale="1.3690775527867565 1.3690775527867565 1.3690775527867565"/><mesh class="geom0" file="ycb_objects/018_plum/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="0.7239942384736693 0.7239942384736693 0.7239942384736693"/><mesh class="geom0" file="downloaded_assets/maytoni/scene.stl" name="gen_mesh_gadded_3" scale="1.9869252040774383 1.9869252040774383 1.9869252040774383"/><mesh class="geom0" file="ycb_objects/057_racquetball/google_16k/nontextured.stl" name="gen_mesh_gadded_4" scale="1.7450957791000472 1.7450957791000472 1.7450957791000472"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="table"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="cam_target"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" friction="0.67 0.005 0.0001" name="table_plane" pos="0 0 0.3" priority="20" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.5 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="-.2 -0.2 0.29">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_8" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_10" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>-->
</body>
<light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/>
</body>
<!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998">
<geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/>
<joint name="//unnamed_joint_2" class="/" type="free"/>
</body>
<body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998">
<geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/>
<joint name="//unnamed_joint_3" class="/" type="free"/>
</body>
<body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998">
<geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/>
<joint name="//unnamed_joint_4" class="/" type="free"/>
</body> -->
<!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/>
<joint name="//unnamed_joint_5" class="/" type="free"/>
</body>-->
<!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998">
<geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/>
<joint name="//unnamed_joint_6" class="/" type="free"/>
</body>-->
<!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325">
<geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/>
<joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/>
</body>
<body name="target_obj" pos="0 0.0 0.325">
<geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/>
</body>-->
<!--<body name="gen_body_0" pos="0 0.0 0.3549998">
<geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_0" class="/" type="free"/>
</body>-->
<!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998">
<geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/>
</body>-->
<!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!-- <body name="virt_box_2" pos="0 .45 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/>
</body>
<body name="virt_box_3" pos="0 0.57243499223068691 0.3549998">
<geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/>
</body> -->
<body euler="0 0 0.06782853196358794" name="gen_body_0" pos="0 0 0.30029699999140574"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.22458782141171896 0.9980962193739317 0.3526439618142275 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 2.7070961958197675" name="gen_body_gadded_1" pos="0.20752821884689265 0.023092605428403867 0.46751647858844075"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.6796702285147745 0.5631481145142019 0.8297213425483646 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 0.30706624942637645" name="gen_body_gadded_2" pos="0.1368307547992653 0.5803915584436118 0.30001888812074123"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.3227349067013606 0.4979641721070315 0.31932902047753065 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 5.850262469782159" name="gen_body_gadded_3" pos="0.2736284723258713 -0.47382590481309306 0.8404882892355694"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.8940722003049052 0.7405535121635505 0.5752511625429915 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 3.5809318113956152" name="gen_body_gadded_4" pos="-0.2553126792776077 -0.14490892605299027 0.300332923607825"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.022718959620642853 0.7871083043939036 0.23504763840762333 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"/>-->
<pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_0" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_3" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>-->
</actuator>
</mujoco> | 145.318713 | 19,113 | 0.691473 |
e2ca3afdedabdb6fbcb81571aefc2fb6009556aa | 1,453 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3654_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3654_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3654_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/365/365.stl" name="obj0" scale="0.005261265832425625 0.005261265832425625 0.005261265832425625" />
</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="0.01638390537002209 0.033771126242389 0.22352244872538135">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.236842 | 155 | 0.618032 |
e2cb9435d5e09415a162d41593c66c7d56089220 | 1,451 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3320_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3320_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3320_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/332/332.stl" name="obj0" scale="0.01150112197874469 0.01150112197874469 0.01150112197874469" />
</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="0.02311568527412673 0.08040525234204045 0.2288862639663031">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.184211 | 155 | 0.617505 |
e2cc5dd647459a6391be45514255d004920f5357 | 2,716 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/70_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/70_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/70_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/007/007.stl" name="obj0" scale="0.006323302888737691 0.006323302888737691 0.006323302888737691" />
</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="0.034683208848577125 0.04 0.033513584351595876" 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="-0.02442851392126881 0.008188361036883054 0.006827318190847989" size="0.012923984069139978 0.02656660191836513 0.04719224720598657" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="-0.005252309930698493 0.007500298093762711 -0.006851344663542699" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.02442851392126881 0.008188361036883054 -0.003172681809152013" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.296296 | 220 | 0.65648 |
e2d09eda88f97ab27a7e36938c7c2e52c2807b33 | 4,416 | xml | XML | robosuite/models/assets/arenas/bins_arena.xml | v1viswan/dexnet_rrt_planner_surreal_robosuite | d66753963776ee4dd95b0b2b58a8618644e346f4 | [
"MIT"
] | 11 | 2020-03-11T07:53:25.000Z | 2022-02-23T05:28:48.000Z | robosuite/models/assets/arenas/bins_arena.xml | wangcongrobot/dexnet_rrt_planner_surreal_robosuite | d66753963776ee4dd95b0b2b58a8618644e346f4 | [
"MIT"
] | null | null | null | robosuite/models/assets/arenas/bins_arena.xml | wangcongrobot/dexnet_rrt_planner_surreal_robosuite | d66753963776ee4dd95b0b2b58a8618644e346f4 | [
"MIT"
] | 1 | 2021-01-05T16:55:09.000Z | 2021-01-05T16:55:09.000Z | <mujoco model="bins_arena">
<asset>
<texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256"/>
<texture builtin="checker" height="512" name="texplane" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" type="2d" width="512"/>
<texture file="../textures/light-wood.png" type="2d" name="tex-light-wood"/>
<texture file="../textures/dark-wood.png" type="2d" name="tex-dark-wood"/>
<material name="light-wood" reflectance="0.5" texrepeat="15 15" texture="tex-light-wood" texuniform="true"/>
<material name="dark-wood" reflectance="0.5" texrepeat="5 5" texture="tex-dark-wood" texuniform="true"/>
<material name="floorplane" reflectance="0.5" texrepeat="1 1" texture="texplane" texuniform="true"/>
</asset>
<worldbody>
<geom condim="3" material="floorplane" name="floor" pos="0 0 0" size="3 3 .125" type="plane"/>
<geom rgba="0 0 0 0" pos="0.1 0.5 0.7" size="0.5 1 .2" type="plane"/>
<body name="bin1" pos="0.1 0.15 0.8">
<geom pos="0 0 0" size="0.2 0.25 0.02" type="box" friction="1 0.005 0.0001"/>
<geom pos="0 0 0" material="light-wood" size="0.2 0.25 0.02" type="box" conaffinity="0" contype="0" group="1"/>
<!-- <geom pos="0 0.25 0.05" size="0.21 0.01 0.05" type="box" friction="1 0.005 0.0001" rgba="0 0 1 1"/>
<geom pos="0 0.25 0.05" size="0.21 0.01 0.05" type="box" conaffinity="0" contype="0" group="1" material="light-wood"/>
<geom pos="0 -0.25 0.05" size="0.21 0.01 0.05" type="box" friction="1 0.005 0.0001" rgba="0 0 1 1"/>
<geom pos="0 -0.25 0.05" size="0.21 0.01 0.05" type="box" conaffinity="0" contype="0" group="1" material="light-wood"/>
<geom pos="0.2 0 0.05" size="0.01 0.25 0.05" type="box" friction="1 0.005 0.0001" rgba="0 0 1 1"/>
<geom pos="0.2 0 0.05" size="0.01 0.25 0.05" type="box" conaffinity="0" contype="0" group="1" material="light-wood"/>
<geom pos="-0.2 0 0.05" size="0.01 0.25 0.05" type="box" friction="1 0.005 0.0001" rgba="0 0 1 1"/>
<geom pos="-0.2 0 0.05" size="0.01 0.25 0.05" type="box" conaffinity="0" contype="0" group="1" material="light-wood"/> -->
</body>
<body name="bin2" pos="0.1 0.68 0.8">
<geom pos="0 0 0" size="0.2 0.25 0.02" type="box" friction="1 0.005 0.0001"/>
<geom pos="0 0 0" size="0.2 0.25 0.02" type="box" conaffinity="0" contype="0" group="1" material="dark-wood"/>
<geom pos="0 0.25 0.05" size="0.21 0.01 0.05" type="box" friction="1 0.005 0.0001" rgba="1 0 0 1"/>
<geom pos="0 0.25 0.05" size="0.21 0.01 0.05" type="box" conaffinity="0" contype="0" group="1" material="dark-wood"/>
<geom pos="0 0 0.05" size="0.2 0.01 0.05" type="box" friction="1 0.005 0.0001" rgba="1 0 0 1"/>
<geom pos="0 0 0.05" size="0.2 0.01 0.05" type="box" conaffinity="0" contype="0" group="1" material="dark-wood"/>
<geom pos="0 -0.25 0.05" size="0.21 0.01 0.05" type="box" friction="1 0.005 0.0001" rgba="1 0 0 1"/>
<geom pos="0 -0.25 0.05" size="0.21 0.01 0.05" type="box" conaffinity="0" contype="0" group="1" material="dark-wood"/>
<geom pos="0.2 0 0.05" size="0.01 0.25 0.05" type="box" friction="1 0.005 0.0001" rgba="1 0 0 1"/>
<geom pos="0.2 0 0.05" size="0.01 0.25 0.05" type="box" conaffinity="0" contype="0" group="1" material="dark-wood"/>
<geom pos="0 0 0.05" size="0.01 0.25 0.05" type="box" friction="1 0.005 0.0001" rgba="1 0 0 1"/>
<geom pos="0 0 0.05" size="0.01 0.25 0.05" type="box" conaffinity="0" contype="0" group="1" material="dark-wood"/>
<geom pos="-0.2 0 0.05" size="0.01 0.25 0.05" type="box" friction="1 0.005 0.0001" rgba="1 0 0 1"/>
<geom pos="-0.2 0 0.05" size="0.01 0.25 0.05" type="box" conaffinity="0" contype="0" group="1" material="dark-wood"/>
</body>
<light diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="1 1 4.0" specular="0.3 0.3 0.3" castshadow="false"/>
<light diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="-3. -3. 4.0" specular="0.3 0.3 0.3" castshadow="false"/>
<!-- front view -->
<camera mode="fixed" name="frontview" pos="1.6 0.4 1.45" quat="0.56 0.43 0.43 0.56"/>
<!-- bird view -->
<camera mode="fixed" name="birdview" pos="-0.2 0.4 3.0" quat="0.7071 0 0 0.7071"/>
<!-- agent view -->
<camera mode="fixed" name="agentview" pos="1.0 0.4 1.75" quat="0.653 0.271 0.271 0.653"/>
</worldbody>
</mujoco> | 84.923077 | 130 | 0.588542 |
e2d0e834071a9e369c324b0be068ec154bd8f813 | 2,718 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/9668_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9668_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9668_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/966/966.stl" name="obj0" scale="0.0058936123408706255 0.0058936123408706255 0.0058936123408706255" />
</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="0.02086667042875588 0.04 0.036547601454484595" zaxis="1.0 0.0 0.0">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="1.0 0.0 0.0" />
<geom condim="3" mass="2" material="block_mat" pos="0.01952296391363058 -0.016762231983917606 0.025076753367854743" size="0.01263420910181273 0.027587705226833334 0.04320970119710131" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="0.0010047280047915574 -0.012495628391559346 0.0027337225995093103" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.01952296391363058 -0.016762231983917606 0.015076753367854741" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.333333 | 220 | 0.657469 |
e2d3588b513e0d3a979b9527505d189e6ee6de23 | 1,455 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/9590_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9590_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9590_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/959/959.stl" name="obj0" scale="0.015159592774401778 0.015159592774401778 0.015159592774401778" />
</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="0.03562567214294432 0.09358701833231621 0.22627374209980503">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.289474 | 155 | 0.618557 |
e2d54d24164cb8d9f7b2c767d51886831900f581 | 1,766 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/250_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/250_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/250_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/025/025.stl" name="obj0" scale="0.012352802833624001 0.012352802833624001 0.012352802833624001" />
</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="0.03495176150562577 0.0734911290090167 0.028469134106568223">
<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="-0.001613183986038116 -0.012577234459829357 -0.0030167415227709" rgba="1 0 0 0" size="0.017475880752812884 0.03674556450450835 0.014234567053284112" 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 | 0.669309 |
e2d568d9f6899be8a5852913a3619887cf809afa | 1,458 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/1509_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1509_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1509_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/150/150.stl" name="obj0" scale="0.0059870624768030125 0.0059870624768030125 0.0059870624768030125" />
</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="0.02684922714678466 0.05329824311524494 0.21830708098441262">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.368421 | 155 | 0.619342 |
e2d7243277814a83566330fd9918f9ce87305938 | 1,769 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/995_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/995_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/995_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/099/099.stl" name="obj0" scale="0.004028013290409293 0.004028013290409293 0.004028013290409293" />
</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="0.02317625800194499 0.036279749770849204 0.0235156503457683">
<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="-0.0002552382424900776 5.023427905342577e-05 0.0002935839450754137" rgba="1 0 0 0" size="0.011588129000972495 0.018139874885424602 0.01175782517288415" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.146341 | 200 | 0.670435 |
e2d7d1377960ef2d1c8fcf31adaabd12f3b62d0a | 1,453 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7308_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7308_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7308_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/730/730.stl" name="obj0" scale="0.006262956360230529 0.006262956360230529 0.006262956360230529" />
</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="0.0225356827231995 0.04097074800466712 0.2309188658833625">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.236842 | 155 | 0.618032 |
e2d8420d8b22189513c7569e6a5a5a1f614d8cbb | 17,472 | xml | XML | robosuite/scripts/~/Robotics/1579651840_823234/ep_1579652810_9012542/model.xml | clj003/mod_surreal2 | 1c91ed1d85acdb8b82dae46c49153d547301d2d9 | [
"MIT"
] | null | null | null | robosuite/scripts/~/Robotics/1579651840_823234/ep_1579652810_9012542/model.xml | clj003/mod_surreal2 | 1c91ed1d85acdb8b82dae46c49153d547301d2d9 | [
"MIT"
] | null | null | null | robosuite/scripts/~/Robotics/1579651840_823234/ep_1579652810_9012542/model.xml | clj003/mod_surreal2 | 1c91ed1d85acdb8b82dae46c49153d547301d2d9 | [
"MIT"
] | null | null | null | <mujoco model="base">
<compiler angle="radian" meshdir="meshes/" />
<option cone="elliptic" impratio="20" />
<size nconmax="5000" njmax="5000" />
<asset>
<texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256" />
<texture builtin="checker" height="512" name="texplane" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" type="2d" width="512" />
<material name="floorplane" reflectance="0.5" texrepeat="1 1" texture="texplane" texuniform="true" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/pedestal.stl" name="pedestal" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/base.stl" name="base" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/l0.stl" name="l0" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/head.stl" name="head" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/l1.stl" name="l1" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/l2.stl" name="l2" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/l3.stl" name="l3" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/l4.stl" name="l4" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/l5.stl" name="l5" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/l6.stl" name="l6" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/grippers/meshes/two_finger_gripper/electric_gripper_base.STL" name="electric_gripper_base" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/grippers/meshes/two_finger_gripper/standard_narrow.STL" name="standard_narrow" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/grippers/meshes/two_finger_gripper/half_round_tip.STL" name="half_round_tip" />
</asset>
<actuator>
<velocity ctrllimited="true" ctrlrange="-1.74 1.74" joint="right_j0" kv="8.0" name="vel_right_j0" />
<velocity ctrllimited="true" ctrlrange="-1.328 1.328" joint="right_j1" kv="7.0" name="vel_right_j1" />
<velocity ctrllimited="true" ctrlrange="-1.957 1.957" joint="right_j2" kv="6.0" name="vel_right_j2" />
<velocity ctrllimited="true" ctrlrange="-1.957 1.957" joint="right_j3" kv="4.0" name="vel_right_j3" />
<velocity ctrllimited="true" ctrlrange="-3.485 3.485" joint="right_j4" kv="2.0" name="vel_right_j4" />
<velocity ctrllimited="true" ctrlrange="-3.485 3.485" joint="right_j5" kv="0.5" name="vel_right_j5" />
<velocity ctrllimited="true" ctrlrange="-4.545 4.545" joint="right_j6" kv="0.1" name="vel_right_j6" />
<position ctrllimited="true" ctrlrange="-0.0115 0.020833" forcelimited="true" forcerange="-20 20" joint="r_gripper_r_finger_joint" kp="10000" name="gripper_r_gripper_r_finger_joint" />
<position ctrllimited="true" ctrlrange="-0.020833 0.0115" forcelimited="true" forcerange="-20 20" joint="r_gripper_l_finger_joint" kp="10000" name="gripper_r_gripper_l_finger_joint" />
</actuator>
<worldbody>
<geom condim="3" material="floorplane" name="floor" pos="0.56 0.0 0.0" size="3 3 .125" type="plane" />
<body name="table" pos="0.56 0.0 0.4">
<geom friction="1.0 0.005 0.0001" name="table_collision" pos="0 0 0" size="0.4 0.4 0.4" type="box" />
<geom conaffinity="0" contype="0" group="1" name="table_visual" pos="0 0 0" size="0.4 0.4 0.4" type="box" />
<site name="table_top" pos="0.0 0.0 0.4" rgba="0 0 0 0" size="0.001 0.001 0.001" />
</body>
<light castshadow="false" diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="1.56 1.0 4.0" specular="0.3 0.3 0.3" />
<light castshadow="false" diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="-2.44 -3.0 4.0" specular="0.3 0.3 0.3" />
<camera mode="fixed" name="frontview" pos="2.16 0.0 1.45" quat="0.56 0.43 0.43 0.56" />
<camera mode="fixed" name="birdview" pos="0.36000000000000004 0.0 3.0" quat="0.7071 0 0 0.7071" />
<camera mode="fixed" name="agentview" pos="1.06 0.0 1.35" quat="0.653 0.271 0.271 0.653" />
<body name="base" pos="0.0 0.0 0.913">
<inertial diaginertia="0 0 0" mass="0" pos="0 0 0" />
<body name="controller_box" pos="0 0 0">
<inertial diaginertia="1.71363 1.27988 0.809981" mass="46.64" pos="-0.325 0 -0.38" />
<geom pos="-0.325 0 -0.38" size="0.11 0.2 0.265" type="box" />
</body>
<body name="pedestal_feet" pos="0 0 0">
<inertial diaginertia="8.16095 9.59375 15.0785" mass="167.09" pos="-0.1225 0 -0.758" />
<geom pos="-0.1225 0 -0.758" size="0.385 0.35 0.155" type="box" />
</body>
<body name="torso" pos="0 0 0">
<inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0" />
<geom conaffinity="0" contype="0" group="1" rgba="0.2 0.2 0.2 1" size="0.05 0.05 0.05" type="box" />
</body>
<body name="pedestal" pos="0 0 0">
<inertial diaginertia="6.0869 5.81635 4.20915" mass="60.864" pos="0 0 0" quat="0.659267 -0.259505 -0.260945 0.655692" />
<geom conaffinity="0" contype="0" group="1" mesh="pedestal" pos="0.26 0.345 -0.91488" quat="0.5 0.5 -0.5 -0.5" rgba="0.2 0.2 0.2 1" type="mesh" />
<geom pos="-0.02 0 -0.29" rgba="0.2 0.2 0.2 1" size="0.18 0.31" type="cylinder" />
</body>
<body name="right_arm_base_link" pos="0 0 0">
<inertial diaginertia="0.00740351 0.00681776 0.00672942" mass="2.0687" pos="-0.0006241 -2.8025e-05 0.065404" quat="-0.209285 0.674441 0.227335 0.670558" />
<geom conaffinity="0" contype="0" group="1" mesh="base" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0 0 0.12" rgba="0.5 0.1 0.1 1" size="0.08 0.12" type="cylinder" />
<body name="right_l0" pos="0 0 0.08">
<inertial diaginertia="0.0651588 0.0510944 0.0186218" mass="5.3213" pos="0.024366 0.010969 0.14363" quat="0.894823 0.00899958 -0.170275 0.412573" />
<joint axis="0 0 1" limited="true" name="right_j0" pos="0 0 0" range="-3.0503 3.0503" />
<geom conaffinity="0" contype="0" group="1" mesh="l0" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0.08 0 0.23" rgba="0.5 0.1 0.1 1" size="0.07" />
<body name="head" pos="0 0 0.2965">
<inertial diaginertia="0.0118334 0.00827089 0.00496574" mass="1.5795" pos="0.0053207 -2.6549e-05 0.1021" quat="0.999993 7.08405e-05 -0.00359857 -0.000626247" />
<joint axis="0 0 1" limited="true" name="head_pan" pos="0 0 0" range="-5.0952 0.9064" />
<geom conaffinity="0" contype="0" group="1" mesh="head" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0 0 0.08" rgba="0.5 0.1 0.1 1" size="0.018" />
<body name="screen" pos="0.03 0 0.105" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0" />
<geom conaffinity="0" contype="0" group="1" rgba="0.2 0.2 0.2 1" size="0.12 0.07 0.001" type="box" />
<geom rgba="0.2 0.2 0.2 1" size="0.001" />
</body>
<body name="head_camera" pos="0.0228027 0 0.216572" quat="0.342813 -0.618449 0.618449 -0.342813">
<inertial diaginertia="0 0 0" mass="0" pos="0.0228027 0 0.216572" quat="0.342813 -0.618449 0.618449 -0.342813" />
</body>
</body>
<body name="right_torso_itb" pos="-0.055 0 0.22" quat="0.707107 0 -0.707107 0">
<inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0" />
</body>
<body name="right_l1" pos="0.081 0.05 0.237" quat="0.5 -0.5 0.5 0.5">
<inertial diaginertia="0.0224339 0.0221624 0.0097097" mass="4.505" pos="-0.0030849 -0.026811 0.092521" quat="0.424888 0.891987 0.132364 -0.0794296" />
<joint axis="0 0 1" limited="true" name="right_j1" pos="0 0 0" range="-3.8095 2.2736" />
<geom conaffinity="0" contype="0" group="1" mesh="l1" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0 0 0.1225" rgba="0.5 0.1 0.1 1" size="0.07" />
<body name="right_l2" pos="0 -0.14 0.1425" quat="0.707107 0.707107 0 0">
<inertial diaginertia="0.0257928 0.025506 0.00292515" mass="1.745" pos="-0.00016044 -0.014967 0.13582" quat="0.707831 -0.0524761 0.0516007 0.702537" />
<joint axis="0 0 1" limited="true" name="right_j2" pos="0 0 0" range="-3.0426 3.0426" />
<geom conaffinity="0" contype="0" group="1" mesh="l2" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0 0 0.08" rgba="0.5 0.1 0.1 1" size="0.06 0.17" type="cylinder" />
<body name="right_l3" pos="0 -0.042 0.26" quat="0.707107 -0.707107 0 0">
<inertial diaginertia="0.0102404 0.0096997 0.00369622" mass="2.5097" pos="-0.0048135 -0.0281 -0.084154" quat="0.902999 0.385391 -0.0880901 0.168247" />
<joint axis="0 0 1" limited="true" name="right_j3" pos="0 0 0" range="-3.0439 3.0439" />
<geom conaffinity="0" contype="0" group="1" mesh="l3" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0 -0.01 -0.12" rgba="0.5 0.1 0.1 1" size="0.06" />
<body name="right_l4" pos="0 -0.125 -0.1265" quat="0.707107 0.707107 0 0">
<inertial diaginertia="0.0136549 0.0135493 0.00127353" mass="1.1136" pos="-0.0018844 0.0069001 0.1341" quat="0.803612 0.031257 -0.0298334 0.593582" />
<joint axis="0 0 1" limited="true" name="right_j4" pos="0 0 0" range="-2.9761 2.9761" />
<geom conaffinity="0" contype="0" group="1" mesh="l4" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0 0 0.11" rgba="0.5 0.1 0.1 1" size="0.045 0.15" type="cylinder" />
<body name="right_arm_itb" pos="-0.055 0 0.075" quat="0.707107 0 -0.707107 0">
<inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0" />
</body>
<body name="right_l5" pos="0 0.031 0.275" quat="0.707107 -0.707107 0 0">
<inertial diaginertia="0.00474131 0.00422857 0.00190672" mass="1.5625" pos="0.0061133 -0.023697 0.076416" quat="0.404076 0.9135 0.0473125 0.00158335" />
<joint axis="0 0 1" damping="0.2" limited="true" name="right_j5" pos="0 0 0" range="-2.9761 2.9761" />
<geom conaffinity="0" contype="0" group="1" mesh="l5" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0 0 0.1" rgba="0.5 0.1 0.1 1" size="0.06" />
<body name="right_hand_camera" pos="0.039552 -0.033 0.0695" quat="0.707107 0 0.707107 0">
<inertial diaginertia="0 0 0" mass="0" pos="0.039552 -0.033 0.0695" quat="0.707107 0 0.707107 0" />
</body>
<body name="right_wrist" pos="0 0 0.10541" quat="0.707107 0.707107 0 0">
<inertial diaginertia="0 0 0" mass="0" pos="0 0 0.10541" quat="0.707107 0.707107 0 0" />
</body>
<body name="right_l6" pos="0 -0.11 0.1053" quat="0.0616248 0.06163 -0.704416 0.704416">
<inertial diaginertia="0.000360258 0.000311068 0.000214974" mass="0.3292" pos="-8.0726e-06 0.0085838 -0.0049566" quat="0.479044 0.515636 -0.513069 0.491322" />
<joint axis="0 0 1" damping="0.1" limited="true" name="right_j6" pos="0 0 0" range="-4.7124 4.7124" />
<geom conaffinity="0" contype="0" group="1" mesh="l6" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0 0.015 -0.01" rgba="0.5 0.1 0.1 1" size="0.055 0.025" type="cylinder" />
<body name="right_hand" pos="0 0 0.0245" quat="0.707105 0 0 0.707108">
<inertial diaginertia="1e-08 1e-08 1e-08" mass="1e-08" pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" />
<geom size="1e-08 5e-09" type="cylinder" />
<body name="right_gripper_base" pos="0 0 0.025">
<inertial diaginertia="3e-08 2e-08 2e-08" mass="0.3" pos="0 0 0" quat="-0.5 0.5 0.5 0.5" />
<geom conaffinity="0" contype="0" group="1" mesh="electric_gripper_base" quat="0 0 0.707107 0.707107" type="mesh" />
<geom quat="0 0 0.707107 0.707107" size="0.029 0.05" type="cylinder" />
<body name="right_gripper" pos="0 0 0.095">
<inertial diaginertia="0 0 0" mass="0.0001" pos="0 0 0" />
<site group="1" name="grip_site" pos="0 0 0" rgba="1 0 0 1" size="0.01 0.01 0.01" type="sphere" />
<site group="1" name="grip_site_cylinder" pos="0 0 0" rgba="0 1 0 0.3" size="0.005 10" type="cylinder" />
<camera fovy="75" mode="fixed" name="eye_in_hand" pos="0 0 0" quat="0 -1 1 0" />
</body>
<body name="r_gripper_l_finger" pos="0 0.01 0.02">
<inertial diaginertia="0.01 0.01 0.01" mass="0.02" pos="0 0 0" quat="0 0 0 -1" />
<joint axis="0 1 0" damping="100" limited="true" name="r_gripper_l_finger_joint" pos="0 0 0" range="-0.0115 0.020833" type="slide" />
<geom conaffinity="0" contype="0" group="1" mesh="standard_narrow" name="r_gripper_l_finger" quat="0 0 0 -1" type="mesh" />
<geom conaffinity="1" contype="0" friction="0 0 0" name="l_finger_g0" pos="0 0.01725 0.04" quat="0 0 0 -1" size="0.005 0.00675 0.0375" type="box" />
<geom conaffinity="1" contype="0" friction="0 0 0" name="l_finger_g1" pos="-0.005 -0.003 0.0083" quat="0 0 0 -1" size="0.005 0.025 0.0085" type="box" />
<body name="r_gripper_l_finger_tip" pos="0 0.01725 0.075">
<inertial diaginertia="0.01 0.01 0.01" mass="0.01" pos="0 0 0" quat="0 0 0 1" />
<geom conaffinity="0" contype="0" group="1" mesh="half_round_tip" quat="0 0 0 1" type="mesh" />
<geom conaffinity="1" contype="0" friction="0 0 0" name="l_fingertip_g0" pos="0 -0.0045 -0.015" quat="0 0 0 1" size="0.004 0.004 0.0185" type="box" />
</body>
</body>
<body name="r_gripper_r_finger" pos="0 -0.01 0.02">
<inertial diaginertia="0.01 0.01 0.01" mass="0.02" pos="0 0 0" />
<joint axis="0 1 0" damping="100" limited="true" name="r_gripper_r_finger_joint" pos="0 0 0" range="-0.020833 0.0115" type="slide" />
<geom conaffinity="0" contype="0" group="1" mesh="standard_narrow" name="r_gripper_r_finger" type="mesh" />
<geom conaffinity="1" contype="0" friction="0 0 0" name="r_finger_g0" pos="0 -0.01725 0.04" size="0.005 0.00675 0.0375" type="box" />
<geom conaffinity="1" contype="0" friction="0 0 0" name="r_finger_g1" pos="0.005 0.003 0.0083" size="0.005 0.025 0.0085" type="box" />
<body name="r_gripper_r_finger_tip" pos="0 -0.01725 0.075">
<inertial diaginertia="0.01 0.01 0.01" mass="0.01" pos="0 0 0" />
<geom conaffinity="0" contype="0" group="1" mesh="half_round_tip" type="mesh" />
<geom conaffinity="1" contype="0" friction="0 0 0" name="r_fingertip_g0" pos="0 0.0045 -0.015" size="0.004 0.004 0.0185" type="box" />
</body>
</body>
</body>
</body>
</body>
</body>
<body name="right_l4_2" pos="0 0 0">
<inertial diaginertia="1e-08 1e-08 1e-08" mass="1e-08" pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" />
<geom pos="0 0.01 0.26" size="0.06" />
</body>
</body>
</body>
<body name="right_l2_2" pos="0 0 0">
<inertial diaginertia="1e-08 1e-08 1e-08" mass="1e-08" pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" />
<geom pos="0 0 0.26" size="0.06" />
</body>
</body>
<body name="right_l1_2" pos="0 0 0">
<inertial diaginertia="1e-08 1e-08 1e-08" mass="1e-08" pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" />
<geom pos="0 0 0.035" size="0.07 0.07" type="cylinder" />
</body>
</body>
</body>
</body>
</body>
<body name="cube" pos="0.5887065480299303 0.017000235460378377 0.8218280940239319" quat="0.8775825618903728 0 0 0.479425538604203"><geom density="3000" friction="1.0 0.005 0.0001" group="1" name="cube" pos="0 0 0" rgba="1 0 0 1" size="0.02070267884071495 0.02067858383595032 0.021828094023931793" type="box" /><site name="cube" pos="0 0 0" rgba="1 0 0 1" size="0.002 0.002 0.002" type="sphere" /><joint name="cube" type="free" /></body></worldbody>
<equality>
</equality>
<contact /><default /></mujoco> | 84.405797 | 450 | 0.58734 |
e2d87031b1b1fe46e647d6fd8191549e767fdc4e | 2,722 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/4148_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4148_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4148_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/414/414.stl" name="obj0" scale="0.006697066885616107 0.006697066885616107 0.006697066885616107" />
</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="0.013369954011241698 0.04 0.010051935753697954" zaxis="0.0 0.0 1.0">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="0.0 0.0 1.0" />
<geom condim="3" mass="2" material="block_mat" pos="-0.0005392691032186168 0.0037992483764120455 0.04665872324401163" size="0.010262093883677771 0.011832244970079595 0.05653471211584306" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="-0.0014838907046925687 0.002645890037090129 0.00017594688186653063" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.0005392691032186168 0.0037992483764120455 0.03665872324401163" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.407407 | 223 | 0.657972 |
e2d8d0c3c9db7e85af9fa8309132ae48564422da | 1,771 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/5312_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5312_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5312_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/531/531.stl" name="obj0" scale="0.005171714047086836 0.005171714047086836 0.005171714047086836" />
</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="0.019449084006887815 0.03160976708392603 0.027359150823767497">
<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="-0.0029204444478043794 0.001772851068508401 -0.003678922955669259" rgba="1 0 0 0" size="0.009724542003443908 0.015804883541963015 0.013679575411883749" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.195122 | 200 | 0.670807 |
e2dcd81278339cec1f26894d3734400595f67b55 | 1,454 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/903_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/903_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/903_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/090/090.stl" name="obj0" scale="0.007093440624102318 0.007093440624102318 0.007093440624102318" />
</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="0.02915651302911803 0.0618819630263219 0.22762897605792073">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.263158 | 155 | 0.618294 |
e2dfb40af17c3a2f1ed4abb7a31d051a3c423d99 | 1,457 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/1948_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1948_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1948_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/194/194.stl" name="obj0" scale="0.005021200100284863 0.005021200100284863 0.005021200100284863" />
</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="0.012189312216848472 0.030257538403312325 0.22778159969746217">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.342105 | 155 | 0.61908 |
e2e02b112916bd5e2694f83f99da3dfb97bbc67c | 80,319 | xml | XML | herb_reconf/cluttered_scenes/easy_pushing_055_baseball_1_1.0_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_055_baseball_1_1.0_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_055_baseball_1_1.0_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="5" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/>
<size nconmax="10000" njmax="10000"/>
<visual>
<global offheight="800" offwidth="800"/>
<quality shadowsize="2048"/>
<headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/>
<map force="0.1" zfar="30.0"/>
<rgba haze="0.1499999 0.25 0.3499998 1"/>
</visual>
<statistic center="0.2 0 0.5" extent="10.0"/>
<default>
<default class="/"/>
<default class="geom0">
<geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/>
</default>
<default class="herb/">
<joint damping="1.0"/>
<default class="herb/viz">
<geom conaffinity="0" contype="0" group="1"/>
</default>
</default>
<default class="herb/wam/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
</default>
<default class="herb/wam/bhand/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/bhand/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
<default class="herb/wam/bhand/viz">
<geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam_1/col">
<geom conaffinity="1" condim="4" contype="1" group="0" priority="10" type="mesh"/><!-- friction="1 0.1 0.02" -->
</default>
</default>
<default class="herb/wam_1/bhand/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/bhand/col">
<geom conaffinity="1" condim="4" contype="4" friction="1 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/> <!-- -->
</default>
<default class="herb/wam_1/bhand/viz">
<geom conaffinity="0" condim="4" contype="4" friction="1 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/><!-- -->
</default>
</default>
</default>
<asset>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concrete_2d" type="2d"/>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concretecube" type="cube"/>
<material class="/" name="concrete_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concrete_2d"/>
<material class="/" name="concretecube" rgba="0.8 0.8 0.8 1" texture="concretecube"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marble2d" type="2d"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marblecube" type="cube"/>
<material class="/" name="marble_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="marble2d"/>
<material class="/" name="marblecube" rgba="0.8 0.8 0.8 1" texture="marblecube"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplain_2d" type="2d"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplaincube" type="cube"/>
<material class="/" name="concreteplain_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concreteplain_2d"/>
<material class="/" name="concreteplaincube" rgba="0.8 0.8 0.8 1" texture="concreteplaincube"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="wood2d" type="2d"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<!--<mesh name="mustard" class="/" file="ycb_objects/006_mustard_bottle/google_16k/textured.msh"/>
<texture name="mustard_tex" type="2d" file="ycb_objects/006_mustard_bottle/google_16k/texture_map.png"/>
<material name="mustard_mat" class="/" texture="mustard_tex"/>-->
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="ycb_objects/055_baseball/google_16k/nontextured.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/005_tomato_soup_can/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="0.686906728427467 0.686906728427467 0.686906728427467"/><mesh class="geom0" file="ycb_objects/004_sugar_box/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="1.8231606352418868 1.8231606352418868 1.8231606352418868"/><mesh class="geom0" file="ycb_objects/055_baseball/google_16k/nontextured.stl" name="gen_mesh_gadded_3" scale="1.452472947297147 1.452472947297147 1.452472947297147"/><mesh class="geom0" file="ycb_objects/056_tennis_ball/google_16k/nontextured.stl" name="gen_mesh_gadded_4" scale="1.4503053105564336 1.4503053105564336 1.4503053105564336"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="table"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="cam_target"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" friction="0.67 0.005 0.0001" name="table_plane" pos="0 0 0.3" priority="20" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.5 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="-.2 -0.2 0.29">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_8" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_10" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>-->
</body>
<light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/>
</body>
<!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998">
<geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/>
<joint name="//unnamed_joint_2" class="/" type="free"/>
</body>
<body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998">
<geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/>
<joint name="//unnamed_joint_3" class="/" type="free"/>
</body>
<body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998">
<geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/>
<joint name="//unnamed_joint_4" class="/" type="free"/>
</body> -->
<!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/>
<joint name="//unnamed_joint_5" class="/" type="free"/>
</body>-->
<!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998">
<geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/>
<joint name="//unnamed_joint_6" class="/" type="free"/>
</body>-->
<!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325">
<geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/>
<joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/>
</body>
<body name="target_obj" pos="0 0.0 0.325">
<geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/>
</body>-->
<!--<body name="gen_body_0" pos="0 0.0 0.3549998">
<geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_0" class="/" type="free"/>
</body>-->
<!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998">
<geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/>
</body>-->
<!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!-- <body name="virt_box_2" pos="0 .45 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/>
</body>
<body name="virt_box_3" pos="0 0.57243499223068691 0.3549998">
<geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/>
</body> -->
<body euler="0 0 4.0030102097855655" name="gen_body_0" pos="-0.05 -0.35 0.3002050000039162"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.3020873723173798 0.08052252238090107 0.22626240630723782 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 3.146929940847194" name="gen_body_gadded_1" pos="0.06489762970518319 -0.35 0.3005097925683492"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.8886668047529268 0.6822563728463333 0.7508183242471382 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 4.80425497809944" name="gen_body_gadded_2" pos="-0.24471353021041842 -0.3431831870409707 0.302776257544677"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.7413109756257358 0.44489984037893837 0.3761506635996308 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 4.54126798687482" name="gen_body_gadded_3" pos="0.30150521564442634 -0.5262639556017927 0.30027705318639586"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.8564300843424333 0.9908923183913666 0.7337184756805697 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 2.4899097948806213" name="gen_body_gadded_4" pos="-0.02117388713167149 -0.16082220981651918 0.3001388968859563"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.33054716857766064 0.6777550867187923 0.122954138663386 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> | 117.425439 | 1,620 | 0.687359 |
e2e0b0261172b1a1bb165d06ad8378dd784d607c | 1,456 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/1228_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1228_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1228_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/122/122.stl" name="obj0" scale="0.004618922341323611 0.004618922341323611 0.004618922341323611" />
</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="0.024807047141668565 0.03875833579243224 0.23090494610722284">
<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 |
e2e216d9c5f797550389457d5ef91e80f110064c | 1,767 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/1768_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1768_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1768_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/176/176.stl" name="obj0" scale="0.005358627325010593 0.005358627325010593 0.005358627325010593" />
</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="0.029384809937657713 0.04667404589789163 0.03760755926435856">
<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="0.003972337072882696 -0.01581230495985865 -0.007897156315364763" rgba="1 0 0 0" size="0.014692404968828857 0.023337022948945817 0.01880377963217928" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.097561 | 197 | 0.670062 |
e2e3636a5cf64a665d416085a8308a79f00493aa | 1,767 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/4466_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4466_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4466_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/446/446.stl" name="obj0" scale="0.00805283226904256 0.00805283226904256 0.00805283226904256" />
</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="0.02933696723172273 0.05446756973904015 0.02704368165814479">
<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="0.004666038832804677 -0.0075045868412667496 -0.0010045473318234662" rgba="1 0 0 0" size="0.014668483615861365 0.027233784869520074 0.013521840829072394" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.097561 | 201 | 0.670062 |
e2e3f9b5c7500039f699f2450a1151b2fc1d39c6 | 2,723 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/9081_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9081_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9081_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/908/908.stl" name="obj0" scale="0.006622031415744791 0.006622031415744791 0.006622031415744791" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.17">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" />
</body>
<body name="table_top" pos="1.3 0.75 0.36">
<joint damping="0.01" name="table_top:joint" type="free" />
<geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" />
<site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<body name="object0" pos="0.014042835437966672 0.04 0.03914631419800785" zaxis="1.0 0.0 0.0">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="1.0 0.0 0.0" />
<geom condim="3" mass="2" material="block_mat" pos="-4.302952797017749e-05 -0.025432125029310387 0.03941923810569481" size="0.037834478627742994 0.029541854040893357 0.05792605606952433" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="-0.00015268464094240255 -0.016872803703789973 -0.004463982525862845" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-4.302952797017749e-05 -0.025432125029310387 0.029419238105694807" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.425926 | 223 | 0.655894 |
e2e4e2f8e1b0954703fc91ec3b9ff28e6ced0c4f | 2,719 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7009_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7009_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7009_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/700/700.stl" name="obj0" scale="0.004659483490430731 0.004659483490430731 0.004659483490430731" />
</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="0.011136379878370005 0.04 0.023709362387542638" zaxis="1.0 0.0 0.0">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="1.0 0.0 0.0" />
<geom condim="3" mass="2" material="block_mat" pos="0.0007074361852495508 -0.002895738977953142 0.0395472882030422" size="0.015495868364180165 0.011806693731618384 0.05433576414050449" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="-0.0009788287290022188 -0.013914515978940981 -0.0036520960590922867" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.0007074361852495508 -0.002895738977953142 0.0295472882030422" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.351852 | 221 | 0.656859 |
e2e53a7dfe9e99d63f2b29cb6a33f69f463a8d57 | 8,488 | xml | XML | d4rl/kitchen/third_party/franka/assets/chain0.xml | chappers/d4rl | b838da60b51c98c1d673a81657f58a44ccf5d3fe | [
"Apache-2.0"
] | 552 | 2020-04-20T01:07:02.000Z | 2022-03-31T16:47:39.000Z | d4rl/kitchen/third_party/franka/assets/chain0.xml | chappers/d4rl | b838da60b51c98c1d673a81657f58a44ccf5d3fe | [
"Apache-2.0"
] | 103 | 2020-04-20T14:18:32.000Z | 2022-03-30T14:33:45.000Z | d4rl/kitchen/third_party/franka/assets/chain0.xml | chappers/d4rl | b838da60b51c98c1d673a81657f58a44ccf5d3fe | [
"Apache-2.0"
] | 135 | 2020-04-21T16:57:52.000Z | 2022-03-30T14:29:55.000Z | <!-- Robot limits pulled from https://frankaemika.github.io/docs/control_parameters.html#constants -->
<!-- Modified from the original source code at
1) https://github.com/vikashplus/franka
which was originally written by Vikash Kumar and licensed under the Apache License= -->
<mujocoinclude>
<body name="panda0_link0" childclass="panda" >
<geom class="panda_viz" mesh="link0_viz"/>
<geom class="panda_col" mesh="link0_col" mass="2.91242"/>
<body name="panda0_link1" pos="0 0 0.333">
<joint name="panda0_joint1" range="-2.8973 2.8973" class="panda_arm"/>
<geom class="panda_viz" mesh="link1_viz"/>
<geom class="panda_col" mesh="link1_col" mass="2.7063"/>
<body name="panda0_link2" pos="0 0 0" quat="0.707107 -0.707107 0 0">
<joint name="panda0_joint2" range="-1.7628 1.7628" class="panda_arm"/>
<geom class="panda_viz" mesh="link2_viz"/>
<geom class="panda_col" mesh="link2_col" mass="2.73046"/>
<body name="panda0_link3" pos="0 -0.316 0" quat="0.707107 0.707107 0 0">
<joint name="panda0_joint3" range="-2.8973 2.8973" class="panda_arm"/>
<geom class="panda_viz" mesh="link3_viz"/>
<geom class="panda_col" mesh="link3_col" mass="2.04104"/>
<body name="panda0_link4" pos="0.0825 0 0" quat="0.707107 0.707107 0 0">
<joint name="panda0_joint4" range="-3.0718 -0.4" class="panda_arm"/>
<geom class="panda_viz" mesh="link4_viz"/>
<geom class="panda_col" mesh="link4_col" mass="2.08129"/>
<body name="panda0_link5" pos="-0.0825 0.384 0" quat="0.707107 -0.707107 0 0">
<joint name="panda0_joint5" range="-2.8973 2.8973" class="panda_forearm"/>
<geom class="panda_viz" mesh="link5_viz"/>
<geom class="panda_col" mesh="link5_col" mass="3.00049"/>
<body name="panda0_link6" pos="0 0 0" euler='1.57 0 1.57'>
<joint name="panda0_joint6" range="-1.6573 2.1127" class="panda_forearm"/>
<!-- <body name="panda0_link6" pos="0 0 0" quat="0.707107 0.707107 0 0"> -->
<!-- <joint name="panda0_joint6" range="-0.0873 3.8223" class="panda_forearm"/> -->
<geom class="panda_viz" mesh="link6_viz"/>
<geom class="panda_col" mesh="link6_col" mass="1.3235"/>
<body name="panda0_link7" pos="0.088 0 0" euler='1.57 0 0.7854'>
<joint name="panda0_joint7" range="-2.8973 2.8973" class="panda_forearm"/>
<!-- <body name="panda0_link7" pos="0.088 0 0" quat="0.707107 0.707107 0 0"> -->
<!-- <joint name="panda0_joint7" range="-2.9671 2.9671" class="panda_forearm"/> -->
<geom class="panda_viz" mesh="link7_viz"/>
<geom class="panda_col" mesh="link7_col" mass="0.2"/>
<geom pos="0 0 0.107" quat="0.92388 0 0 -0.382683" class="panda_viz" mesh="hand_viz"/>
<geom pos="0 0 0.107" quat="0.92388 0 0 -0.382683" class="panda_col" mesh="hand_col" mass="0.81909"/>
<site name='end_effector' pos='0 0 .210' size='0.01' euler='0 0 -0.785398'/>
<body name="panda0_leftfinger" pos="0 0 0.1654" quat="0.92388 0 0 -0.382683" childclass='panda_finger'>
<inertial pos="-1.57863e-05 0.0118731 0.0434103" quat="0.705868 0.0310348 -0.0314925 0.706962" mass="0.0927059" diaginertia="6.57134e-05 6.09611e-05 1.09932e-05" />
<joint name="panda0_finger_joint1" axis="0 1 0" type="slide" range="0 0.04" class="panda_finger"/>
<geom class="panda_viz" mesh="finger_viz"/>
<!-- <geom class="panda_col" mesh="finger_col"/> -->
<geom size="0.0070" fromto=".009 .006 .0875 -.009 .009 .0875" type="capsule" />
<geom size="0.0070" fromto=".009 .009 .0875 -.009 .006 .0875" type="capsule" />
<geom size="0.0075" fromto=".009 .007 .0775 -.009 .010 .0775" type="capsule" />
<geom size="0.0075" fromto=".009 .010 .0775 -.009 .007 .0775" type="capsule" />
<geom size="0.0082" fromto=".009 .008 .0675 -.009 .011 .0675" type="capsule" />
<geom size="0.0082" fromto=".009 .011 .0675 -.009 .008 .0675" type="capsule" />
<geom size="0.0090" fromto=".009 .009 .0575 -.009 .012 .0575" type="capsule" />
<geom size="0.0090" fromto=".009 .012 .0575 -.009 .009 .0575" type="capsule" />
<geom size="0.0100" fromto=".009 .0105 .0475 -.009 .0135 .0475" type="capsule" />
<geom size="0.0100" fromto=".009 .0135 .0475 -.009 .0105 .0475" type="capsule" />
<geom size="0.0110" fromto=".009 .012 .035 -.009 .015 .035" type="capsule" />
<geom size="0.0110" fromto=".009 .015 .035 -.009 .012 .035" type="capsule" />
<geom size="0.0185 0.0120 0.0175" pos="0 0.014 0.015" type="box" euler='.03 0 0' />
</body>
<body name="panda0_rightfinger" pos="0 0 0.1654" quat="0.92388 0 0 -0.382683" childclass='panda_finger'>
<inertial pos="1.57863e-05 -0.0118731 0.0434103" quat="0.705868 -0.0310348 0.0314925 0.706962" mass="0.0927059" diaginertia="6.57134e-05 6.09611e-05 1.09932e-05" />
<joint name="panda0_finger_joint2" axis="0 -1 0" type="slide" range="0 0.04" class="panda_finger"/>
<geom quat="0 0 0 1" class="panda_viz" mesh="finger_viz"/>
<!-- <geom class="panda_col" mesh="finger_col"/> -->
<geom size="0.0070" fromto=".009 -.006 .0875 -.009 -.009 .0875" type="capsule" />
<geom size="0.0070" fromto=".009 -.009 .0875 -.009 -.006 .0875" type="capsule" />
<geom size="0.0075" fromto=".009 -.007 .0775 -.009 -.010 .0775" type="capsule" />
<geom size="0.0075" fromto=".009 -.010 .0775 -.009 -.007 .0775" type="capsule" />
<geom size="0.0082" fromto=".009 -.008 .0675 -.009 -.011 .0675" type="capsule" />
<geom size="0.0082" fromto=".009 -.011 .0675 -.009 -.008 .0675" type="capsule" />
<geom size="0.0090" fromto=".009 -.009 .0575 -.009 -.012 .0575" type="capsule" />
<geom size="0.0090" fromto=".009 -.012 .0575 -.009 -.009 .0575" type="capsule" />
<geom size="0.0100" fromto=".009 -.0105 .0475 -.009 -.0135 .0475" type="capsule" />
<geom size="0.0100" fromto=".009 -.0135 .0475 -.009 -.0105 .0475" type="capsule" />
<geom size="0.0110" fromto=".009 -.012 .035 -.009 -.015 .035" type="capsule" />
<geom size="0.0110" fromto=".009 -.015 .035 -.009 -.012 .035" type="capsule" />
<geom size="0.0185 0.0120 0.0175" pos="0 -.014 0.015" type="box" euler='-.03 0 0' />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</mujocoinclude>
| 81.615385 | 204 | 0.461004 |
e2e643d93e11b7484c2fea6f7a1a4ab6660b0cf4 | 77,295 | xml | XML | herb_reconf/cluttered_scenes/grasping_008_pudding_box_1_0.1_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/grasping_008_pudding_box_1_0.1_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/grasping_008_pudding_box_1_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="10" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/>
<size nconmax="10000" njmax="10000"/>
<visual>
<global offheight="800" offwidth="800"/>
<quality shadowsize="2048"/>
<headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/>
<map force="0.1" zfar="30.0"/>
<rgba haze="0.1499999 0.25 0.3499998 1"/>
</visual>
<statistic center="0.2 0 0.5" extent="10.0"/>
<default>
<default class="/"/>
<default class="geom0">
<geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/>
</default>
<default class="herb/">
<joint damping="1.0"/>
<default class="herb/viz">
<geom conaffinity="0" contype="0" group="1"/>
</default>
</default>
<default class="herb/wam/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
</default>
<default class="herb/wam/bhand/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/bhand/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
<default class="herb/wam/bhand/viz">
<geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam_1/col">
<geom conaffinity="1" condim="4" contype="1" friction="2 0.1 0.02" group="0" priority="10" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/bhand/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/bhand/col">
<geom conaffinity="1" condim="4" contype="4" friction="2 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/>
</default>
<default class="herb/wam_1/bhand/viz">
<geom conaffinity="0" condim="4" contype="4" friction="2 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/>
</default>
</default>
</default>
<asset>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concrete_2d" type="2d"/>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concretecube" type="cube"/>
<material class="/" name="concrete_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concrete_2d"/>
<material class="/" name="concretecube" rgba="0.8 0.8 0.8 1" texture="concretecube"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marble2d" type="2d"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marblecube" type="cube"/>
<material class="/" name="marble_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="marble2d"/>
<material class="/" name="marblecube" rgba="0.8 0.8 0.8 1" texture="marblecube"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplain_2d" type="2d"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplaincube" type="cube"/>
<material class="/" name="concreteplain_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concreteplain_2d"/>
<material class="/" name="concreteplaincube" rgba="0.8 0.8 0.8 1" texture="concreteplaincube"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="wood2d" type="2d"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="ycb_objects/008_pudding_box/google_16k/nontextured.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/004_sugar_box/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="1.595245870616909 1.595245870616909 1.595245870616909"/><mesh class="geom0" file="ycb_objects/004_sugar_box/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="0.7184213674846514 0.7184213674846514 0.7184213674846514"/><mesh class="geom0" file="ycb_objects/010_potted_meat_can/google_16k/nontextured.stl" name="gen_mesh_gadded_3" scale="0.5303447281984874 0.5303447281984874 0.5303447281984874"/><mesh class="geom0" file="ycb_objects/025_mug/google_16k/nontextured.stl" name="gen_mesh_gadded_4" scale="0.9820421512634139 0.9820421512634139 0.9820421512634139"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="cam_target"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="table"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" name="table_plane" pos="0 0 0.3" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.6999996 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="0 0 0.45">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_8" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_10" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>-->
</body>
<light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/>
</body>
<!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998">
<geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/>
<joint name="//unnamed_joint_2" class="/" type="free"/>
</body>
<body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998">
<geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/>
<joint name="//unnamed_joint_3" class="/" type="free"/>
</body>
<body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998">
<geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/>
<joint name="//unnamed_joint_4" class="/" type="free"/>
</body> -->
<!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/>
<joint name="//unnamed_joint_5" class="/" type="free"/>
</body>-->
<!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998">
<geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/>
<joint name="//unnamed_joint_6" class="/" type="free"/>
</body>-->
<!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325">
<geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/>
<joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/>
</body>
<body name="target_obj" pos="0 0.0 0.325">
<geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/>
</body>-->
<!--<body name="gen_body_0" pos="0 0.0 0.3549998" euler="0 0 0.5">
<geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_0" class="/" type="free"/>
</body>
<body name="box_0" pos="0.175 0.0 0.3725">
<geom name="box_geom_0" class="/" type="box" group="1" size="0.055 0.055 0.065" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="target_obj" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_15" class="geom0" type="box" contype="0" conaffinity="0" group="1" size="0.055 0.055 0.055" rgba="0 0 0 0.1666"/>
</body>-->
<!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!-- <body name="virt_box_2" pos="0 .45 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/>
</body>
<body name="virt_box_3" pos="0 0.57243499223068691 0.3549998">
<geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/>
</body> -->
<body euler="0 0 0.058858720052249056" name="gen_body_0" pos="0 0 0.30049700000090523"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.9714156288459849 0.25929805865827804 0.5185159400141951 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 4.639278448467053" name="gen_body_gadded_1" pos="0.18786955839053898 0.0 0.30242919579509675"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.7918685772939199 0.5838954547704566 0.8172992515048199 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 1.2079026111243745" name="gen_body_gadded_2" pos="-0.21085476868775874 0.14265137830380334 0.30109399189236596"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.7388323712685696 0.12155278276832071 0.2999306745021715 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 2.2161990820505357" name="gen_body_gadded_3" pos="0.320802299569501 -0.09107187876810689 0.3026431011990624"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.733517054038898 0.38155753997524233 0.19048901662847917 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 3.9606180129538258" name="gen_body_gadded_4" pos="0.09748085551302163 0.12246547650503599 0.29935102729628493"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.13134349942443924 0.2767555066729006 0.4970465984879655 1" type="mesh"/><joint class="/" name="gen_joint_gadded_4" type="free"/></body></worldbody>
<contact>
<!--<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="box_geom_0" geom2="table_plane"/>-->
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/>
<!--<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>-->
<!--<pair geom1="//unnamed_geom_8" geom2="tabletop" friction="1 1 0.005 0.0001 0.0001" />-->
<!-- <pair geom1="//unnamed_geom_9" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> -->
</contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="10000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="10000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="10000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="10000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>-->
</actuator>
</mujoco> | 121.342229 | 1,618 | 0.684766 |
e2e650e3eccf0fa0eb72466f9e5bc9492b6a2fed | 2,715 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/787_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/787_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/787_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/078/078.stl" name="obj0" scale="0.005533355655812275 0.005533355655812275 0.005533355655812275" />
</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="0.025806049105903107 0.03878271708927786 0.04" zaxis="1.0 0.0 0.0">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="1.0 0.0 0.0" />
<geom condim="3" mass="2" material="block_mat" pos="0.007193243027932242 -0.004572625599634507 0.029246440108042993" size="0.02937655139866309 0.03396006077763442 0.049145578623039435" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="0.003070489455279174 -0.008171775749390098 0.0059069105909066635" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.007193243027932242 -0.004572625599634507 0.01924644010804299" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.277778 | 221 | 0.65709 |
e2ead6d716b8e018bd4e93f53ead79ab5a90bd40 | 1,768 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/1074_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1074_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1074_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/107/107.stl" name="obj0" scale="0.014291522943441761 0.014291522943441761 0.014291522943441761" />
</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="0.02942147951764495 0.11904368420782149 0.030961977067241478">
<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="0.014806430975115416 -0.018584609105681073 0.010036912368141285" rgba="1 0 0 0" size="0.014710739758822476 0.059521842103910746 0.015480988533620739" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.121951 | 198 | 0.670814 |
e2eb443e64fd924a7392e67e58fab3f06b133097 | 2,722 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7910_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7910_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7910_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/791/791.stl" name="obj0" scale="0.005698497619595082 0.005698497619595082 0.005698497619595082" />
</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="0.032438224724242584 0.04 0.031174349238694967" 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="-0.0034904871071371434 -0.013666778096489115 0.02128575277493638" size="0.028863142251530048 0.020049218754976554 0.05123048913835949" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="-0.0011706967575354033 -0.009241407502660295 0.001229612875271858" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.0034904871071371434 -0.013666778096489115 0.011285752774936379" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.407407 | 223 | 0.65687 |
e2ec08b279c509b1f09cd4362aef0e45ddcb7d6c | 2,719 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/9406_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9406_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9406_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/940/940.stl" name="obj0" scale="0.006061410115841882 0.006061410115841882 0.006061410115841882" />
</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="0.0072545532365694875 0.04 0.01436564804922229" zaxis="1.0 0.0 0.0">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="1.0 0.0 0.0" />
<geom condim="3" mass="2" material="block_mat" pos="0.0011191267047576945 0.016265466060333272 0.036939839754255875" size="0.011508721427011356 0.010711141699233734 0.04573307284171003" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="8.091260105919115e-05 0.012611210427184803 -0.0015386798508846631" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.0011191267047576945 0.016265466060333272 0.026939839754255877" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.351852 | 222 | 0.657962 |
e2ecd7594a18536f975d73c96908532721d21342 | 1,774 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3705_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3705_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3705_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/370/370.stl" name="obj0" scale="0.003502150749893109 0.003502150749893109 0.003502150749893109" />
</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="0.021452280830289494 0.023599246330305464 0.013494574823256875">
<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="-0.0002402253026240715 -0.0008849623929844482 8.177144139875828e-05" rgba="1 0 0 0" size="0.010726140415144747 0.011799623165152732 0.006747287411628437" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.268293 | 202 | 0.6708 |
e2ed68d6e4a0de9d2364be1d153b5c8278fda1ad | 1,771 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/6394_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6394_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6394_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/639/639.stl" name="obj0" scale="0.0067352652798510675 0.0067352652798510675 0.0067352652798510675" />
</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="0.027061858102198397 0.05052793318838159 0.0364286184679484">
<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="-0.0026686893628627252 -0.003350745707314054 0.0012409325622544597" rgba="1 0 0 0" size="0.013530929051099198 0.025263966594190796 0.0182143092339742" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.195122 | 199 | 0.670807 |
e2ed737f6ecc7dc17ad195624106a27e8155e3d8 | 1,455 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/1278_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1278_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1278_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/127/127.stl" name="obj0" scale="0.007785461307989849 0.007785461307989849 0.007785461307989849" />
</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="0.03740777523643168 0.05628447090020498 0.22847177845634709">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.289474 | 155 | 0.618557 |
e2ee1a93a2339c09f8e48dd365ed355271927a71 | 79,819 | xml | XML | herb_reconf/cluttered_scenes/easy_pushing_025_mug_1_0.9_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_025_mug_1_0.9_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_025_mug_1_0.9_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="5" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/>
<size nconmax="10000" njmax="10000"/>
<visual>
<global offheight="800" offwidth="800"/>
<quality shadowsize="2048"/>
<headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/>
<map force="0.1" zfar="30.0"/>
<rgba haze="0.1499999 0.25 0.3499998 1"/>
</visual>
<statistic center="0.2 0 0.5" extent="10.0"/>
<default>
<default class="/"/>
<default class="geom0">
<geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/>
</default>
<default class="herb/">
<joint damping="1.0"/>
<default class="herb/viz">
<geom conaffinity="0" contype="0" group="1"/>
</default>
</default>
<default class="herb/wam/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
</default>
<default class="herb/wam/bhand/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/bhand/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
<default class="herb/wam/bhand/viz">
<geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam_1/col">
<geom conaffinity="1" condim="4" contype="1" group="0" priority="10" type="mesh"/><!-- friction="1 0.1 0.02" -->
</default>
</default>
<default class="herb/wam_1/bhand/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/bhand/col">
<geom conaffinity="1" condim="4" contype="4" friction="1 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/> <!-- -->
</default>
<default class="herb/wam_1/bhand/viz">
<geom conaffinity="0" condim="4" contype="4" friction="1 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/><!-- -->
</default>
</default>
</default>
<asset>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concrete_2d" type="2d"/>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concretecube" type="cube"/>
<material class="/" name="concrete_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concrete_2d"/>
<material class="/" name="concretecube" rgba="0.8 0.8 0.8 1" texture="concretecube"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marble2d" type="2d"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marblecube" type="cube"/>
<material class="/" name="marble_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="marble2d"/>
<material class="/" name="marblecube" rgba="0.8 0.8 0.8 1" texture="marblecube"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplain_2d" type="2d"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplaincube" type="cube"/>
<material class="/" name="concreteplain_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concreteplain_2d"/>
<material class="/" name="concreteplaincube" rgba="0.8 0.8 0.8 1" texture="concreteplaincube"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="wood2d" type="2d"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<!--<mesh name="mustard" class="/" file="ycb_objects/006_mustard_bottle/google_16k/textured.msh"/>
<texture name="mustard_tex" type="2d" file="ycb_objects/006_mustard_bottle/google_16k/texture_map.png"/>
<material name="mustard_mat" class="/" texture="mustard_tex"/>-->
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="ycb_objects/025_mug/google_16k/nontextured.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/009_gelatin_box/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="0.7535201026490428 0.7535201026490428 0.7535201026490428"/><mesh class="geom0" file="ycb_objects/024_bowl/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="1.7000539581064826 1.7000539581064826 1.7000539581064826"/><mesh class="geom0" file="ycb_objects/010_potted_meat_can/google_16k/nontextured.stl" name="gen_mesh_gadded_3" scale="0.9707874870286859 0.9707874870286859 0.9707874870286859"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="table"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="cam_target"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" friction="0.67 0.005 0.0001" name="table_plane" pos="0 0 0.3" priority="20" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.5 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="-.2 -0.2 0.29">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_8" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_10" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>-->
</body>
<light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/>
</body>
<!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998">
<geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/>
<joint name="//unnamed_joint_2" class="/" type="free"/>
</body>
<body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998">
<geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/>
<joint name="//unnamed_joint_3" class="/" type="free"/>
</body>
<body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998">
<geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/>
<joint name="//unnamed_joint_4" class="/" type="free"/>
</body> -->
<!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/>
<joint name="//unnamed_joint_5" class="/" type="free"/>
</body>-->
<!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998">
<geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/>
<joint name="//unnamed_joint_6" class="/" type="free"/>
</body>-->
<!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325">
<geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/>
<joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/>
</body>
<body name="target_obj" pos="0 0.0 0.325">
<geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/>
</body>-->
<!--<body name="gen_body_0" pos="0 0.0 0.3549998">
<geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_0" class="/" type="free"/>
</body>-->
<!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998">
<geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/>
</body>-->
<!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!-- <body name="virt_box_2" pos="0 .45 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/>
</body>
<body name="virt_box_3" pos="0 0.57243499223068691 0.3549998">
<geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/>
</body> -->
<body euler="0 0 4.129505173747193" name="gen_body_0" pos="-0.05 -0.35 0.3005319999763742"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.2055385581149093 0.6305801000637481 0.22131704207238556 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 0.23291695823352113" name="gen_body_gadded_1" pos="0.0770585011761783 -0.35 0.30037363740767864"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.07761074903115739 0.11054128831132937 0.21563333586410538 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 3.3601796802962958" name="gen_body_gadded_2" pos="-0.10154034982349068 0.1286750110265878 0.2969761577259648"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.39821717294828685 0.2675107975169866 0.23776327138676345 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 1.2829545491219385" name="gen_body_gadded_3" pos="-0.31206055623329804 -0.28025294115373833 0.3048381540335455"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.6661233301969532 0.28931307925939775 0.25165362179342743 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body></worldbody>
<contact>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/>
<!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> -->
<!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/>
<exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/>
<exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/>
<exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/>
<exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/>
<exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/>
<exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/>
<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>-->
</contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>-->
</actuator>
</mujoco> | 116.694444 | 1,294 | 0.686666 |
e2f23afc6d61656f349bd626582d80b596dacb59 | 1,456 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/201_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/201_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/201_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/020/020.stl" name="obj0" scale="0.010803992056237586 0.010803992056237586 0.010803992056237586" />
</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="0.026761520735276666 0.07905629956492458 0.23934817148079346">
<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 |
e2f33659d55cc01f17c5ffbbc7c522433c358c66 | 5,694 | xml | XML | xmls/claw.xml | iZuno-K/mujoco-py | d73ce6e91d096b74da2a2fcb0a4164e10db5f641 | [
"Linux-OpenIB"
] | 11 | 2018-07-15T14:37:29.000Z | 2020-10-05T13:46:39.000Z | xmls/claw.xml | iZuno-K/mujoco-py | d73ce6e91d096b74da2a2fcb0a4164e10db5f641 | [
"Linux-OpenIB"
] | 2 | 2018-01-29T22:07:24.000Z | 2018-04-13T00:38:26.000Z | xmls/claw.xml | iZuno-K/mujoco-py | d73ce6e91d096b74da2a2fcb0a4164e10db5f641 | [
"Linux-OpenIB"
] | 2 | 2020-05-22T00:09:36.000Z | 2021-03-31T19:53:16.000Z | <?xml version="1.0" encoding="utf-8"?>
<mujoco>
<default>
<default class="position">
<position ctrllimited="true" forcelimited="false"></position>
</default>
<default class="geom0">
<geom conaffinity="0" contype="1" friction="1 0.005 0.001" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"></geom>
</default>
<default class="geom1">
<geom conaffinity="0" contype="1" friction="1 0.005 0.001" margin="0.001" rgba="0.7 0.6 0.55 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"></geom>
</default>
<default class="arm">
<joint armature="0.1" damping="5" limited="true" stiffness="0" user="0"></joint>
</default>
<default class="not_arm">
<joint armature="0.1" damping="1" limited="true" stiffness="0" user="0"></joint>
</default>
</default>
<equality>
<weld body1="mocap" body2="claw" solimp="0.02 0.1 0.05" solref="0.06 1"></weld>
</equality>
<worldbody>
<body mocap="true" name="mocap" pos="0.37 0.1 -0.065" euler="3.1416 0 0">
<geom class="geom1" conaffinity="0" contype="0" fromto="0 0.02 0 0 -0.02 0" rgba="0.5 0.5 0.5 0.15" size="0.01" type="capsule"></geom>
</body>
<body name="basearm" pos="0.1 0.1 0.395">
<camera euler="0 0 0" fovy="40" name="rgb" pos="0 0 2"></camera>
<geom class="geom0" pos="0 0 0.025" size="0.1 0.1 0.025" type="box"></geom>
<joint axis="1 0 0" class="not_arm" damping="10" limited="false" margin="0.001" name="slide0" pos="0 0 0" type="slide"></joint>
<joint axis="0 1 0" class="not_arm" damping="10" limited="false" margin="0.001" name="slide1" pos="0 0 0" type="slide"></joint>
<joint axis="0 0 1" class="not_arm" damping="1000000" limited="false" margin="0.001" name="slide2" pos="0 0 0" type="slide"></joint>
<body name="upperarm" pos="0 0 0">
<geom class="geom0" fromto="0 0 0 0 0 -0.345" size="0.05" type="capsule"></geom>
<joint axis="1 0 0" class="arm" name="s_abduction" pos="0 0 0" range="-1.57 1.57" type="hinge" user="1"></joint>
<joint axis="0 -1 0" class="arm" name="s_flexion" pos="0 0 0" range="-0.85 1.2" type="hinge" user="2"></joint>
<joint axis="0 0 1" class="arm" name="s_rotation" pos="0 0 0" range="-0.85 0.85" type="hinge" user="3"></joint>
<body name="forearm" pos="0 0 -0.36">
<geom class="geom0" fromto="0 0 0 0.225 0 0" size="0.035" type="capsule"></geom>
<joint axis="0 -1 0" class="arm" name="e_flexion" pos="0 0 0" range="-1.5 1.05" type="hinge" user="4"></joint>
<joint axis="-1 0 0" class="arm" name="e_pronation" pos="0 0 0" range="-1.5 1.57" type="hinge" user="5"></joint>
<body name="claw" pos="0.27 0 0" euler="3.1416 0 0">
<geom class="geom1" fromto="0 0.02 0 0 -0.02 0" name="Geomclaw" size="0.01" type="capsule"></geom>
<joint axis="0 0 1" class="not_arm" name="w_abduction" pos="0 0 0" range="-0.5 0.5" type="hinge" user="6"></joint>
<joint axis="0 -1 0" class="not_arm" name="w_flexion" pos="0 0 0" range="-1.05 1.05" type="hinge" user="7"></joint>
<body name="rightclaw" pos="0.01 -0.02 0">
<geom class="geom1" fromto="0 0 0.015 0.03 -0.02 0.015" name="rightclaw_it" size="0.005" type="capsule"></geom>
<geom class="geom1" fromto="0.03 -0.02 0.015 0.07 0 0.015" name="rightclaw_ot" size="0.005" type="capsule"></geom>
<geom class="geom1" fromto="0 0 -0.015 0.03 -0.02 -0.015" name="rightclaw_ib" size="0.005" type="capsule"></geom>
<geom class="geom1" fromto="0.03 -0.02 -0.015 0.07 0 -0.015" name="rightclaw_ob" size="0.005" type="capsule"></geom>
<joint axis="0 0 -1" class="not_arm" name="rc_close" pos="0 0 0" range="-1.05 1.05" type="hinge" user="8"></joint>
</body>
<body name="leftclaw" pos="0.01 0.02 0">
<geom class="geom1" fromto="0 0 0.015 0.03 0.02 0.015" name="leftclaw_it" size="0.005" type="capsule"></geom>
<geom class="geom1" fromto="0.03 0.02 0.015 0.07 0 0.015" name="leftclaw_ot" size="0.005" type="capsule"></geom>
<geom class="geom1" fromto="0 0 -0.015 0.03 0.02 -0.015" name="leftclaw_ib" size="0.005" type="capsule"></geom>
<geom class="geom1" fromto="0.03 0.02 -0.015 0.07 0 -0.015" name="leftclaw_ob" size="0.005" type="capsule"></geom>
<joint axis="0 0 1" class="not_arm" name="lc_close" pos="0 0 0" range="-1.05 1.05" type="hinge" user="9"></joint>
</body>
<site name="grip" pos="0.04 0 0" rgba="1 0 0 1" size="0.01 0.01 0.01"></site>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<position class="position" ctrllimited="false" joint="slide0" kp="100" name="slide0"></position>
<position class="position" ctrllimited="false" joint="slide1" kp="100" name="slide1"></position>
<position class="position" ctrlrange="-1.57 0.7" joint="s_abduction" kp="100" name="As_abduction"></position>
<position class="position" ctrlrange="-0.85 1.57" joint="s_flexion" kp="100" name="As_flexion"></position>
<position class="position" ctrlrange="-0.85 0.85" joint="s_rotation" kp="100" name="As_rotation"></position>
<position class="position" ctrlrange="-1.5 1.05" joint="e_flexion" kp="70" name="Ae_flexion"></position>
<position class="position" ctrlrange="-1.5 1.57" joint="e_pronation" kp="70" name="Ae_pronation"></position>
<position class="position" ctrlrange="-0.5 0.5" joint="w_abduction" kp="30" name="Aw_abduction"></position>
<position class="position" ctrlrange="-1.05 1.05" joint="w_flexion" kp="30" name="Aw_flexion"></position>
<position class="position" ctrlrange="-1.05 1.05" joint="rc_close" kp="10" name="Arc_close" user="1"></position>
<position class="position" ctrlrange="-1.05 1.05" joint="lc_close" kp="10" name="Alc_close" user="1"></position>
</actuator>
</mujoco>
| 71.175 | 156 | 0.629259 |
e2f4e9257bfb38b500ae85245562c85b0046f9b9 | 1,455 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/8283_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8283_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8283_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/828/828.stl" name="obj0" scale="0.005715270209012159 0.005715270209012159 0.005715270209012159" />
</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="0.03676279550231584 0.04937001861205242 0.23615669966955544">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.289474 | 155 | 0.618557 |
e2f5088b634baf3da5df0180c7921519d073a3ad | 1,454 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/2640_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2640_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2640_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/264/264.stl" name="obj0" scale="0.005967574212391392 0.005967574212391392 0.005967574212391392" />
</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="0.0251634313921584 0.05476118517053137 0.22174990136420578">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.263158 | 155 | 0.618294 |
e2f929acc2c6f092290cedc71ce67bee649ecc95 | 4,180 | xml | XML | envs/xmls/ant3.xml | fredericgo/rl_morph_pytorch | 743cd82d82c16c8d52e5265b6cc5cdf490cb8945 | [
"MIT"
] | null | null | null | envs/xmls/ant3.xml | fredericgo/rl_morph_pytorch | 743cd82d82c16c8d52e5265b6cc5cdf490cb8945 | [
"MIT"
] | null | null | null | envs/xmls/ant3.xml | fredericgo/rl_morph_pytorch | 743cd82d82c16c8d52e5265b6cc5cdf490cb8945 | [
"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 0.5 0.5" margin="0.01" rgba="0.8 0.6 0.4 1"/>
</default>
<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 0.75">
<camera name="track" mode="trackcom" pos="0 -3 0.3" xyaxes="1 0 0 0 0 1"/>
<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"/>
<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"/>
<body name="front_left_foot" pos="0.2 0.2 0">
<joint axis="-1 1 0" name="ankle_1" pos="0.0 0.0 0.0" range="30 70" 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"/>
</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 name="front_right_foot" pos="-0.2 0.2 0">
<joint axis="1 1 0" name="ankle_2" pos="0.0 0.0 0.0" range="-70 -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="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 name="back_foot" pos="-0.2 -0.2 0">
<joint axis="-1 1 0" name="ankle_3" pos="0.0 0.0 0.0" range="-70 -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>
</worldbody>
<actuator>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_1" gear="150"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_1" gear="150"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_2" gear="150"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_2" gear="150"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_3" gear="150"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_3" gear="150"/>
</actuator>
</mujoco> | 60.57971 | 163 | 0.574641 |
e2fbbac718c58b6cf3b5ef1577003b9c2af80dc9 | 2,724 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/649_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/649_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/649_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/064/064.stl" name="obj0" scale="0.005673733514524014 0.005673733514524014 0.005673733514524014" />
</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="0.018425480793951066 0.04 0.011920281490940859" 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="-0.0072094834509282375 -0.006241263153360275 0.04251912196347127" size="0.011317302871711957 0.016022655901400878 0.054674812301029795" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="-0.0015736980350654827 -0.006101189814563715 -0.0002354088466176662" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.0072094834509282375 -0.006241263153360275 0.03251912196347127" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.444444 | 224 | 0.656755 |
e2fe07a9b58316038d77f825b175a200d25c84c5 | 15,301 | xml | XML | furniture/env/models/assets/objects/table_dalom_0267.xml | KejiaChen/assembly | dbaa3eeb40709c4a2033b6a603a68c17e60a0477 | [
"MIT"
] | 364 | 2019-11-20T16:28:39.000Z | 2022-03-28T23:00:19.000Z | furniture/env/models/assets/objects/table_dalom_0267.xml | KejiaChen/assembly | dbaa3eeb40709c4a2033b6a603a68c17e60a0477 | [
"MIT"
] | 22 | 2019-11-24T08:27:22.000Z | 2022-03-31T23:30:25.000Z | furniture/env/models/assets/objects/table_dalom_0267.xml | KejiaChen/assembly | dbaa3eeb40709c4a2033b6a603a68c17e60a0477 | [
"MIT"
] | 52 | 2019-11-21T01:01:01.000Z | 2022-03-02T11:52:53.000Z | <mujoco model="table_dalom_0267">
<custom>
<numeric data="0.067685 0.281449 0.015757 0.885371 0.178383 -0.084784 -0.420843" name="0_part0_initpos" />
<numeric data="-0.223745 -0.047504 0.012864 -0.0 0.024871 -0.999691 0.0" name="4_part4_initpos" />
<numeric data="0.244489 -0.069565 0.018808 0.693328 0.305012 0.637469 0.141058" name="3_part3_initpos" />
<numeric data="0.191644 0.098612 0.007244 0.693303 -0.670096 0.222214 0.14465" name="2_part2_initpos" />
<numeric data="0.246838 0.250176 0.016717 -0.201074 0.186243 0.060282 -0.959817" name="1_part1_initpos" />
</custom>
<asset>
<mesh file="table_dalom_0267/0.stl" name="part0" scale="0.00088 0.00088 0.00088" />
<mesh file="table_dalom_0267/4.stl" name="part4" scale="0.00088 0.00088 0.00088" />
<mesh file="table_dalom_0267/3.stl" name="part3" scale="0.00088 0.00088 0.00088" />
<mesh file="table_dalom_0267/2.stl" name="part2" scale="0.00088 0.00088 0.00088" />
<mesh file="table_dalom_0267/1.stl" name="part1" scale="0.00088 0.00088 0.00088" />
</asset>
<equality>
<weld active="false" body1="0_part0" body2="3_part3" solimp="1 1 0.5" solref="0.01 0.3" />
<weld active="false" body1="1_part1" body2="3_part3" solimp="1 1 0.5" solref="0.01 0.3" />
<weld active="false" body1="2_part2" body2="3_part3" solimp="1 1 0.5" solref="0.01 0.3" />
<weld active="false" body1="3_part3" body2="4_part4" solimp="1 1 0.5" solref="0.01 0.3" />
<weld active="false" body1="1_part1" body2="3_part3" solimp="1 1 0.5" solref="0.01 0.3" />
<weld active="false" body1="2_part2" body2="3_part3" solimp="1 1 0.5" solref="0.01 0.3" />
<weld active="false" body1="0_part0" body2="3_part3" solimp="1 1 0.5" solref="0.01 0.3" />
<weld active="false" body1="4_part4" body2="3_part3" solimp="1 1 0.5" solref="0.01 0.3" />
</equality>
<worldbody>
<body name="0_part0" pos="0.0 -1.76e-10 -0.0" quat="1 0 0 0">
<geom conaffinity="0" contype="0" density="0" mesh="part0" name="0_part0_mesh" pos="0.0 0.0 0.0" rgba="0.82 0.71 0.55 1" type="mesh" />
<site name="0_part0_horizontal_radius_site" pos="0.0 -1.76e-10 -0.0" quat="1 0 0 0" rgba="0 0 0 0" size="0.00088" />
<site name="0_part0_top_site" pos="0.0 -1.76e-10 0.044704" quat="1 0 0 0" rgba="0 0 0 0" size="0.00088" />
<site name="0_part0_bottom_site" pos="0.0 -1.76e-10 -0.044704" quat="1 0 0 0" rgba="0 0 0 0" size="0.00088" />
<site name="0_part0_corner_site8" pos="-0.006705600352 0.08944683123200001 0.044704" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
<site name="0_part0_corner_site7" pos="0.006705600352 0.08944683123200001 0.044704" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
<site name="0_part0_corner_site6" pos="0.006705600352 -0.089446831672 0.044704" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
<site name="0_part0_corner_site5" pos="-0.006705600352 -0.089446831672 0.044704" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
<site name="0_part0_corner_site4" pos="-0.006705600352 0.08944683123200001 -0.044704" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
<site name="0_part0_corner_site3" pos="0.006705600352 0.08944683123200001 -0.044704" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
<site name="0_part0_corner_site2" pos="0.006705600352 -0.089446831672 -0.044704" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
<site name="0_part0_corner_site1" pos="-0.006705600352 -0.089446831672 -0.044704" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
<site name="leg-pole,0,conn_site3" pos="1.4080000000000002e-07 -0.086944 0.03036" quat="0.7071067 0.7071068 0 0" rgba="0.9019 0.0980 0.2941 0.3" size="0.0088" />
<geom density="50" name="noviz_collision_0_part0_1" pos="0.0 -0.05632 0.029303999999999997" quat="0.9993908 -0.03489958 0 0" rgba="0 0 0 0" size="0.0067055912 0.0264 0.0132" solref="0.001 1" type="box" />
<geom density="50" name="noviz_collision_0_part0_2" pos="8.800000000000001e-05 -0.024551999999999997 0.020416" quat="0.9399356 -0.3413263 -0.002248174 0.003517125" rgba="0 0 0 0" size="0.0067055912 0.0176 0.0132" solref="0.001 1" type="box" />
<geom density="50" name="noviz_collision_0_part0_3" pos="-8.800000000000001e-09 0.026136 -0.013376" quat="0.9692429 -0.246106 0 0" rgba="0 0 0 0" size="0.0067055912 0.0484 0.0088" solref="0.001 1" type="box" />
<geom density="50" name="noviz_collision_0_part0_4" pos="-8.800000000000001e-09 0.076032 -0.0352" quat="1 0 0 0" rgba="0 0 0 0" size="0.0067055912 0.011000000000000001 0.0088" solref="0.001 1" type="box" />
</body>
<body name="4_part4" pos="0.0 -0.105109051344 0.373948963872" quat="1 0 0 0">
<geom conaffinity="0" contype="0" density="0" mesh="part4" name="4_part4_mesh" pos="0.0 0.0 0.0" rgba="0.82 0.71 0.55 1" type="mesh" />
<site name="4_part4_horizontal_radius_site" pos="0.0 0.0 0.0" quat="1 0 0 0" rgba="0 0 0 0" size="0.00088" />
<site name="4_part4_top_site" pos="0.0 0.0 0.012740637184" quat="1 0 0 0" rgba="0 0 0 0" size="0.00088" />
<site name="4_part4_bottom_site" pos="0.0 0.0 -0.012740637184" quat="1 0 0 0" rgba="0 0 0 0" size="0.00088" />
<site name="4_part4_corner_site8" pos="-0.215138005368 0.215138005368 0.012740637184" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
<site name="4_part4_corner_site7" pos="0.215138005368 0.215138005368 0.012740637184" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
<site name="4_part4_corner_site6" pos="0.215138005368 -0.215138005368 0.012740637184" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
<site name="4_part4_corner_site5" pos="-0.215138005368 -0.215138005368 0.012740637184" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
<site name="4_part4_corner_site4" pos="-0.215138005368 0.215138005368 -0.012740637184" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
<site name="4_part4_corner_site3" pos="0.215138005368 0.215138005368 -0.012740637184" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
<site name="4_part4_corner_site2" pos="0.215138005368 -0.215138005368 -0.012740637184" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
<site name="4_part4_corner_site1" pos="-0.215138005368 -0.215138005368 -0.012740637184" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
<site name="top-pole,conn_site1" pos="1.4080000000000002e-07 -2.0328e-06 -0.01274064" quat="1 0 0 0" rgba="0.2352 0.7058 0.2941 0.3" size="0.0088" />
<geom density="50" name="noviz_collision_4_part4_0" pos="-6.864e-07 -6.16e-08 0.0067436512" quat="1 0 0 0" rgba="0 0 0 0" size="0.215137296 0.0061600000000000005" solref="0.001 1" type="cylinder" />
<geom density="50" name="noviz_collision_4_part4_1" pos="-6.864e-07 -6.16e-08 -0.005404986400000001" quat="1 0 0 0" rgba="0 0 0 0" size="0.022000000000000002 0.0061600000000000005" solref="0.001 1" type="cylinder" />
</body>
<body name="3_part3" pos="2.87144e-07 -0.10511312556800001 0.186192163344" quat="1 0 0 0">
<geom conaffinity="0" contype="0" density="0" mesh="part3" name="3_part3_mesh" pos="0.0 0.0 0.0" rgba="0.82 0.71 0.55 1" type="mesh" />
<site name="3_part3_horizontal_radius_site" pos="0.0 0.0 -0.0" quat="1 0 0 0" rgba="0 0 0 0" size="0.00088" />
<site name="3_part3_top_site" pos="0.0 0.0 0.17501616334400003" quat="1 0 0 0" rgba="0 0 0 0" size="0.00088" />
<site name="3_part3_bottom_site" pos="0.0 0.0 -0.17501616334400003" quat="1 0 0 0" rgba="0 0 0 0" size="0.00088" />
<site name="3_part3_corner_site8" pos="-0.032874587592 0.032833068576000005 0.17501616334400003" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
<site name="3_part3_corner_site7" pos="0.032874587592 0.032833068576000005 0.17501616334400003" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
<site name="3_part3_corner_site6" pos="0.032874587592 -0.032833068576000005 0.17501616334400003" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
<site name="3_part3_corner_site5" pos="-0.032874587592 -0.032833068576000005 0.17501616334400003" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
<site name="3_part3_corner_site4" pos="-0.032874587592 0.032833068576000005 -0.17501616334400003" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
<site name="3_part3_corner_site3" pos="0.032874587592 0.032833068576000005 -0.17501616334400003" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
<site name="3_part3_corner_site2" pos="0.032874587592 -0.032833068576000005 -0.17501616334400003" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
<site name="3_part3_corner_site1" pos="-0.032874587592 -0.032833068576000005 -0.17501616334400003" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
<site name="pole-top,conn_site1" pos="-1.4080000000000002e-07 2.0416e-06 0.17501616" quat="1 0 0 0" rgba="0.2352 0.7058 0.2941 0.3" size="0.0088" />
<site name="pole-leg,0,conn_site3" pos="-1.4080000000000002e-07 0.0181691224 -0.15583216" quat="0.7071067 0.7071068 0 0" rgba="0.9019 0.0980 0.2941 0.3" size="0.0088" />
<site name="pole-leg,0,conn_site2" pos="-0.013728290399999999 -0.0079668776 -0.15825216" quat="0.3535534 0.3535534 0.6123725 0.6123725" rgba="0.9019 0.0980 0.2941 0.3" size="0.0088" />
<site name="pole-leg,0,conn_site1" pos="0.0141677096 -0.0081428776 -0.15825216" quat="-0.3535534 -0.3535534 0.6123725 0.6123725" rgba="0.9019 0.0980 0.2941 0.3" size="0.0088" />
<geom density="50" name="noviz_collision_3_part3_0" pos="-1.6896000000000003e-06 -3.2208e-06 -0.0001601688" quat="1 0 0 0" rgba="0 0 0 0" size="0.01804 0.17424" solref="0.001 1" type="cylinder" />
</body>
<body name="2_part2" pos="0.091027108744 -0.157663577016 -0.0" quat="1 0 0 0">
<geom conaffinity="0" contype="0" density="0" mesh="part2" name="2_part2_mesh" pos="0.0 0.0 0.0" rgba="0.82 0.71 0.55 1" type="mesh" />
<site name="2_part2_horizontal_radius_site" pos="1.76e-10 8.8e-11 -0.0" quat="1 0 0 0" rgba="0 0 0 0" size="0.00088" />
<site name="2_part2_top_site" pos="1.76e-10 8.8e-11 0.044704" quat="1 0 0 0" rgba="0 0 0 0" size="0.00088" />
<site name="2_part2_bottom_site" pos="1.76e-10 8.8e-11 -0.044704" quat="1 0 0 0" rgba="0 0 0 0" size="0.00088" />
<site name="2_part2_corner_site8" pos="-0.08081602786400001 0.050530635672 0.044704" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
<site name="2_part2_corner_site7" pos="0.08081602821600001 0.050530635672 0.044704" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
<site name="2_part2_corner_site6" pos="0.08081602821600001 -0.050530635496 0.044704" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
<site name="2_part2_corner_site5" pos="-0.08081602786400001 -0.050530635496 0.044704" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
<site name="2_part2_corner_site4" pos="-0.08081602786400001 0.050530635672 -0.044704" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
<site name="2_part2_corner_site3" pos="0.08081602821600001 0.050530635672 -0.044704" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
<site name="2_part2_corner_site2" pos="0.08081602821600001 -0.050530635496 -0.044704" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
<site name="2_part2_corner_site1" pos="-0.08081602786400001 -0.050530635496 -0.044704" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
<site name="leg-pole,0,conn_site1" pos="-0.076859112 0.0444075896 0.02794" quat="-0.3535534 -0.3535534 0.6123725 0.6123725" rgba="0.9019 0.0980 0.2941 0.3" size="0.0088" />
<geom density="50" name="noviz_collision_2_part2_1" pos="-0.046763111999999996 0.0268955808 0.029303999999999997" quat="-0.4999999 0 0 0.8660254" rgba="0 0 0 0" size="0.0067055912 0.0264 0.0132" solref="0.001 1" type="box" />
<geom density="50" name="noviz_collision_2_part2_2" pos="-0.020275103200000002 0.0123755808 0.020416" quat="-0.4711259 0.1719258 -0.2948733 0.813346" rgba="0 0 0 0" size="0.0067055912 0.0176 0.0132" solref="0.001 1" type="box" />
<geom density="50" name="noviz_collision_2_part2_3" pos="0.0235481752 -0.0130959752 -0.013376" quat="-0.4826705 0.1225576 -0.2134194 0.8405123" rgba="0 0 0 0" size="0.0067055912 0.0484 0.0088" solref="0.001 1" type="box" />
<geom density="50" name="noviz_collision_2_part2_4" pos="0.06664306880000001 -0.0382444568 -0.0352" quat="-0.4979872 0 0 0.8671844" rgba="0 0 0 0" size="0.0067055912 0.011000000000000001 0.0088" solref="0.001 1" type="box" />
</body>
<body name="1_part1" pos="-0.091027108744 -0.157663577016 -0.0" quat="1 0 0 0">
<geom conaffinity="0" contype="0" density="0" mesh="part1" name="1_part1_mesh" pos="0.0 0.0 0.0" rgba="0.82 0.71 0.55 1" type="mesh" />
<site name="1_part1_horizontal_radius_site" pos="-1.76e-10 8.8e-11 -0.0" quat="1 0 0 0" rgba="0 0 0 0" size="0.00088" />
<site name="1_part1_top_site" pos="-1.76e-10 8.8e-11 0.044704" quat="1 0 0 0" rgba="0 0 0 0" size="0.00088" />
<site name="1_part1_bottom_site" pos="-1.76e-10 8.8e-11 -0.044704" quat="1 0 0 0" rgba="0 0 0 0" size="0.00088" />
<site name="1_part1_corner_site8" pos="-0.08081602821600001 0.050530635672 0.044704" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
<site name="1_part1_corner_site7" pos="0.08081602786400001 0.050530635672 0.044704" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
<site name="1_part1_corner_site6" pos="0.08081602786400001 -0.050530635496 0.044704" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
<site name="1_part1_corner_site5" pos="-0.08081602821600001 -0.050530635496 0.044704" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
<site name="1_part1_corner_site4" pos="-0.08081602821600001 0.050530635672 -0.044704" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
<site name="1_part1_corner_site3" pos="0.08081602786400001 0.050530635672 -0.044704" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
<site name="1_part1_corner_site2" pos="0.08081602786400001 -0.050530635496 -0.044704" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
<site name="1_part1_corner_site1" pos="-0.08081602821600001 -0.050530635496 -0.044704" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
<site name="leg-pole,0,conn_site2" pos="0.077299112 0.0445835808 0.02794" quat="0.3535534 0.3535534 0.6123725 0.6123725" rgba="0.9019 0.0980 0.2941 0.3" size="0.0088" />
<geom density="50" name="noviz_collision_1_part1_1" pos="0.048523112 0.027863580800000003 0.029303999999999997" quat="0.4999999 0 0 0.8660254" rgba="0 0 0 0" size="0.0067055912 0.0264 0.0132" solref="0.001 1" type="box" />
<geom density="50" name="noviz_collision_1_part1_2" pos="0.0211551032 0.0105275896 0.019272" quat="0.4696601 -0.1697121 -0.2961531 0.8141932" rgba="0 0 0 0" size="0.0067055912 0.0176 0.0132" solref="0.001 1" type="box" />
<geom density="50" name="noviz_collision_1_part1_3" pos="-0.0228677944 -0.014597422400000002 -0.01452" quat="0.4874388 -0.1237684 -0.2127194 0.8377561" rgba="0 0 0 0" size="0.0067055912 0.0484 0.0088" solref="0.001 1" type="box" />
<geom density="50" name="noviz_collision_1_part1_4" pos="-0.0662456872 -0.0392544416 -0.036343999999999994" quat="0.502907 0 0 0.8643405" rgba="0 0 0 0" size="0.0067055912 0.011000000000000001 0.0088" solref="0.001 1" type="box" />
</body>
</worldbody>
<actuator />
<sensor />
<contact />
<default />
</mujoco>
| 121.436508 | 249 | 0.672963 |
e2ff3c15654166d90f45e2660df131ba4cbd1f71 | 79,310 | xml | XML | herb_reconf/cluttered_scenes/hard_pushing_008_pudding_box_1_0.3_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/hard_pushing_008_pudding_box_1_0.3_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/hard_pushing_008_pudding_box_1_0.3_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="5" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/>
<size nconmax="10000" njmax="10000"/>
<visual>
<global offheight="800" offwidth="800"/>
<quality shadowsize="2048"/>
<headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/>
<map force="0.1" zfar="30.0"/>
<rgba haze="0.1499999 0.25 0.3499998 1"/>
</visual>
<statistic center="0.2 0 0.5" extent="10.0"/>
<default>
<default class="/"/>
<default class="geom0">
<geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/>
</default>
<default class="herb/">
<joint damping="1.0"/>
<default class="herb/viz">
<geom conaffinity="0" contype="0" group="1"/>
</default>
</default>
<default class="herb/wam/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
</default>
<default class="herb/wam/bhand/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/bhand/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
<default class="herb/wam/bhand/viz">
<geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam_1/col">
<geom conaffinity="1" condim="4" contype="1" group="0" priority="10" type="mesh"/><!-- friction="1 0.1 0.02" -->
</default>
</default>
<default class="herb/wam_1/bhand/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/bhand/col">
<geom conaffinity="1" condim="4" contype="4" friction="1 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/> <!-- -->
</default>
<default class="herb/wam_1/bhand/viz">
<geom conaffinity="0" condim="4" contype="4" friction="1 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/><!-- -->
</default>
</default>
</default>
<asset>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concrete_2d" type="2d"/>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concretecube" type="cube"/>
<material class="/" name="concrete_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concrete_2d"/>
<material class="/" name="concretecube" rgba="0.8 0.8 0.8 1" texture="concretecube"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marble2d" type="2d"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marblecube" type="cube"/>
<material class="/" name="marble_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="marble2d"/>
<material class="/" name="marblecube" rgba="0.8 0.8 0.8 1" texture="marblecube"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplain_2d" type="2d"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplaincube" type="cube"/>
<material class="/" name="concreteplain_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concreteplain_2d"/>
<material class="/" name="concreteplaincube" rgba="0.8 0.8 0.8 1" texture="concreteplaincube"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="wood2d" type="2d"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<!--<mesh name="mustard" class="/" file="ycb_objects/006_mustard_bottle/google_16k/textured.msh"/>
<texture name="mustard_tex" type="2d" file="ycb_objects/006_mustard_bottle/google_16k/texture_map.png"/>
<material name="mustard_mat" class="/" texture="mustard_tex"/>-->
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="ycb_objects/008_pudding_box/google_16k/nontextured.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/005_tomato_soup_can/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="1.7065575442857452 1.7065575442857452 1.7065575442857452"/><mesh class="geom0" file="ycb_objects/061_foam_brick/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="0.8155340786402676 0.8155340786402676 0.8155340786402676"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="table"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="cam_target"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" friction="0.67 0.005 0.0001" name="table_plane" pos="0 0 0.3" priority="20" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.5 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="-.2 -0.2 0.29">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_8" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_10" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>-->
</body>
<light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/>
</body>
<!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998">
<geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/>
<joint name="//unnamed_joint_2" class="/" type="free"/>
</body>
<body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998">
<geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/>
<joint name="//unnamed_joint_3" class="/" type="free"/>
</body>
<body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998">
<geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/>
<joint name="//unnamed_joint_4" class="/" type="free"/>
</body> -->
<!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/>
<joint name="//unnamed_joint_5" class="/" type="free"/>
</body>-->
<!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998">
<geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/>
<joint name="//unnamed_joint_6" class="/" type="free"/>
</body>-->
<!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325">
<geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/>
<joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/>
</body>
<body name="target_obj" pos="0 0.0 0.325">
<geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/>
</body>-->
<!--<body name="gen_body_0" pos="0 0.0 0.3549998">
<geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_0" class="/" type="free"/>
</body>-->
<!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998">
<geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/>
</body>-->
<!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!-- <body name="virt_box_2" pos="0 .45 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/>
</body>
<body name="virt_box_3" pos="0 0.57243499223068691 0.3549998">
<geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/>
</body> -->
<body euler="0 0 0.4033129510472522" name="gen_body_0" pos="0 0 0.30049700000090523"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.09071264530196232 0.1290391479311508 0.0426583777128039 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 5.028888095683482" name="gen_body_gadded_1" pos="-0.008503598715922461 0.0 0.30126653308006557"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.6461550977387991 0.7279825525244633 0.9127022590232301 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 0.7105617578600459" name="gen_body_gadded_2" pos="0.10210973750550603 0.3560431102778236 0.30097237232345797"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.39130897953215615 0.3058469967602552 0.5938384730026744 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body></worldbody>
<contact>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/>
<!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> -->
<!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/>
<exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/>
<exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/>
<exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/>
<exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/>
<exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/>
<exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/>
<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>-->
</contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>-->
</actuator>
</mujoco> | 115.950292 | 944 | 0.685992 |
390058f37a18c6a59ca27a4b29f7fb3cee876812 | 2,731 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/5498_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5498_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5498_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/549/549.stl" name="obj0" scale="0.004517332354879146 0.004517332354879146 0.004517332354879146" />
</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="0.02312947798215507 0.04000000000000001 0.030934183766322468" zaxis="1.0 0.0 0.0">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="1.0 0.0 0.0" />
<geom condim="3" mass="2" material="block_mat" pos="0.002448432024078377 0.014248837428416225 0.028670241714491413" size="0.030512426632934624 0.011344038731287951 0.051872325139245196" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="0.002510346051171609 -0.001902636000406256 -7.260544259871306e-05" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.002448432024078377 0.014248837428416225 0.01867024171449141" 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> | 50.574074 | 222 | 0.659099 |
3900db3eb3c6963dc2f4750e5a4b30532779fc29 | 1,771 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7221_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7221_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7221_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/722/722.stl" name="obj0" scale="0.007657947091746502 0.007657947091746502 0.007657947091746502" />
</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="0.030163592968717266 0.052582937610937595 0.03620700741716376">
<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="-0.0037012193216992744 -0.021801660744452323 -0.007599835786743603" rgba="1 0 0 0" size="0.015081796484358633 0.026291468805468798 0.01810350370858188" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.195122 | 200 | 0.670243 |
390205373aec9ff207b9ec34ae465e97ce1971d7 | 1,773 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/1540_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1540_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1540_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/154/154.stl" name="obj0" scale="0.018040118704266007 0.018040118704266007 0.018040118704266007" />
</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="0.017133683919910807 0.10861628043684081 0.033023131832729036">
<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="-8.682362553049728e-05 -0.007883430244770723 -0.0004620663062123895" rgba="1 0 0 0" size="0.008566841959955404 0.054308140218420405 0.016511565916364518" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.243902 | 202 | 0.670051 |
39022c02d92491de78c33459d055757dc8ee8f86 | 1,456 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/6889_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6889_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6889_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/688/688.stl" name="obj0" scale="0.005274805522629595 0.005274805522629595 0.005274805522629595" />
</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="0.02854737935860943 0.039195689927405304 0.23220717130034793">
<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 |
390311315c375d1979074c2599a02165ddb2b278 | 1,775 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/6468_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6468_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6468_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/646/646.stl" name="obj0" scale="0.010650223920094322 0.010650223920094322 0.010650223920094322" />
</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="0.026929538491363137 0.06427685976576454 0.014461646179938278">
<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="-0.00036068095427785026 -0.0014930167366695288 -0.00011429818434690587" rgba="1 0 0 0" size="0.013464769245681569 0.03213842988288227 0.007230823089969139" 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> | 43.292683 | 204 | 0.670986 |
Subsets and Splits
No saved queries yet
Save your SQL queries to embed, download, and access them later. Queries will appear here once saved.