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<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
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<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
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<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
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<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
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<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
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<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
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<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
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<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
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<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
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<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
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<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
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<body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
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<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
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<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
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<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
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<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"/>
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<pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> -->
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<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
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<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
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<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"/>
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fe4c70a0c71f6c6465b555bfe1a9bbad86aa926b | 1,775 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/6990_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
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fe566ac298e37048913a96725f49233e4075527d | 1,939 | xml | XML | passive_hand_env/assets/passive_hand/lift.xml | suchanekj/cur_rl_simulation | b5f702ef2dfc08f838c0ce6fe2c9cccca954afaa | [
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<site name="herb/wam/hand_attachment" class="herb/wam/"/>
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<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> | 119.77237 | 945 | 0.68323 |
fe5baeb884aa26b34e77f46dcea6410a1ac466e0 | 7,789 | xml | XML | metagym/metalocomotion/envs/assets/humanoids/humanoid_var_tst_014.xml | WorldEditors/RLSchool | a368937ab23c8d56f8b46d6c2de74d607d7a12bb | [
"Apache-2.0"
] | null | null | null | metagym/metalocomotion/envs/assets/humanoids/humanoid_var_tst_014.xml | WorldEditors/RLSchool | a368937ab23c8d56f8b46d6c2de74d607d7a12bb | [
"Apache-2.0"
] | null | null | null | metagym/metalocomotion/envs/assets/humanoids/humanoid_var_tst_014.xml | WorldEditors/RLSchool | a368937ab23c8d56f8b46d6c2de74d607d7a12bb | [
"Apache-2.0"
] | null | null | null | <mujoco model="humanoid">
<compiler angle="degree" inertiafromgeom="true" />
<default>
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<geom conaffinity="1" condim="3" friction="0.8 0.1 0.1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1" />
<motor ctrllimited="true" ctrlrange="-.4 .4" />
</default>
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</option>
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</visual>
<worldbody>
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<geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.07" type="capsule" />
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<geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="uwaist" size="0.06" type="capsule" />
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<joint armature="0.02" axis="0 1 0" damping="5" name="abdomen_y" pos="0 0 0.065" range="-75 30" stiffness="10" type="hinge" />
<body name="pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0">
<joint armature="0.02" axis="1 0 0" damping="5" name="abdomen_x" pos="0 0 0.1" range="-35 35" stiffness="10" type="hinge" />
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<joint armature="0.01" axis="1 0 0" damping="5" name="right_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge" />
<joint armature="0.01" axis="0 0 1" damping="5" name="right_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge" />
<joint armature="0.01" axis="0 1 0" damping="5" name="right_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge" />
<geom fromto="0.0 0.0 0.0 0.0 0.011811608362668907 -0.40159468433074286" name="right_thigh1" size="0.06" type="capsule" />
<body name="right_shin" pos="0.0 0.011811608362668907 -0.47600781701555694">
<joint armature="0.0060" axis="0 -1 0" name="right_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge" />
<geom fromto="0.0 0.0 0.0 0.0 0.0 -0.32874453615898996" name="right_shin1" size="0.049" type="capsule" />
<body name="right_foot" pos="0.0 0.0 -0.49311680423848503">
<geom name="right_foot" pos="0 0 0.1" size="0.075" type="sphere" user="0" />
</body>
</body>
</body>
<body name="left_thigh" pos="0.0 0.13390258096060012 -0.04">
<joint armature="0.01" axis="-1 0 0" damping="5" name="left_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge" />
<joint armature="0.01" axis="0 0 -1" damping="5" name="left_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge" />
<joint armature="0.01" axis="0 1 0" damping="5" name="left_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge" />
<geom fromto="0.0 0.0 0.0 0.0 -0.011811608362668907 -0.40159468433074286" name="left_thigh1" size="0.06" type="capsule" />
<body name="left_shin" pos="0.0 -0.011811608362668907 -0.47600781701555694">
<joint armature="0.0060" axis="0 -1 0" name="left_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge" />
<geom fromto="0.0 0.0 0.0 0.0 0.0 -0.32874453615898996" name="left_shin1" size="0.049" type="capsule" />
<body name="left_foot" pos="0.0 0.0 -0.49311680423848503">
<geom name="left_foot" type="sphere" size="0.075" pos="0 0 0.1" user="0" />
</body>
</body>
</body>
</body>
</body>
<body name="right_upper_arm" pos="0 -0.17 0.06">
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<joint armature="0.0051" axis="0 -1 1" name="right_shoulder2" pos="0 0 0" range="-85 60" stiffness="1" type="hinge" />
<geom fromto="0 0 0 .16 -.16 -.16" name="right_uarm1" size="0.04 0.16" type="capsule" />
<body name="right_lower_arm" pos=".18 -.18 -.18">
<joint armature="0.0028" axis="0 -1 1" name="right_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge" />
<geom fromto="0.01 0.01 0.01 .17 .17 .17" name="right_larm" size="0.031" type="capsule" />
<geom name="right_hand" pos=".18 .18 .18" size="0.04" type="sphere" />
</body>
</body>
<body name="left_upper_arm" pos="0 0.17 0.06">
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<joint armature="0.0051" axis="0 1 1" name="left_shoulder2" pos="0 0 0" range="-60 85" stiffness="1" type="hinge" />
<geom fromto="0 0 0 .16 .16 -.16" name="left_uarm1" size="0.04 0.16" type="capsule" />
<body name="left_lower_arm" pos=".18 .18 -.18">
<joint armature="0.0028" axis="0 -1 -1" name="left_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge" />
<geom fromto="0.01 -0.01 0.01 .17 -.17 .17" name="left_larm" size="0.031" type="capsule" />
<geom name="left_hand" pos=".18 -.18 .18" size="0.04" type="sphere" />
</body>
</body>
</body>
</worldbody>
<tendon>
<fixed name="left_hipknee">
<joint coef="-1" joint="left_hip_y" />
<joint coef="1" joint="left_knee" />
</fixed>
<fixed name="right_hipknee">
<joint coef="-1" joint="right_hip_y" />
<joint coef="1" joint="right_knee" />
</fixed>
</tendon>
<actuator>
<motor gear="100" joint="abdomen_y" name="abdomen_y" />
<motor gear="100" joint="abdomen_z" name="abdomen_z" />
<motor gear="100" joint="abdomen_x" name="abdomen_x" />
<motor gear="100" joint="right_hip_x" name="right_hip_x" />
<motor gear="100" joint="right_hip_z" name="right_hip_z" />
<motor gear="300" joint="right_hip_y" name="right_hip_y" />
<motor gear="200" joint="right_knee" name="right_knee" />
<motor gear="100" joint="left_hip_x" name="left_hip_x" />
<motor gear="100" joint="left_hip_z" name="left_hip_z" />
<motor gear="300" joint="left_hip_y" name="left_hip_y" />
<motor gear="200" joint="left_knee" name="left_knee" />
<motor gear="25" joint="right_shoulder1" name="right_shoulder1" />
<motor gear="25" joint="right_shoulder2" name="right_shoulder2" />
<motor gear="25" joint="right_elbow" name="right_elbow" />
<motor gear="25" joint="left_shoulder1" name="left_shoulder1" />
<motor gear="25" joint="left_shoulder2" name="left_shoulder2" />
<motor gear="25" joint="left_elbow" name="left_elbow" />
</actuator>
</mujoco> | 72.794393 | 149 | 0.534215 |
fe5c54f3abc6cfc468098b91cba53b8a82c1a351 | 4,937 | xml | XML | data_gen/collect_cup_data_xmls/shared_mug_71ca4fc9c8c29fa8d5abaf84513415a2.xml | YunchuZhang/Visually-Grounded-Library-of-Behaviors-for-Generalizing-Manipulation-Across-Objects-Configurations- | 896afda942dfc04e4aaad2ee751c32df1eb17913 | [
"MIT"
] | 1 | 2022-03-14T22:25:17.000Z | 2022-03-14T22:25:17.000Z | data_gen/collect_cup_data_xmls/shared_mug_71ca4fc9c8c29fa8d5abaf84513415a2.xml | YunchuZhang/Visually-Grounded-Library-of-Behaviors | 896afda942dfc04e4aaad2ee751c32df1eb17913 | [
"MIT"
] | null | null | null | data_gen/collect_cup_data_xmls/shared_mug_71ca4fc9c8c29fa8d5abaf84513415a2.xml | YunchuZhang/Visually-Grounded-Library-of-Behaviors | 896afda942dfc04e4aaad2ee751c32df1eb17913 | [
"MIT"
] | null | null | null | <mujoco>
<asset>
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<texture file="textures/block.png" gridlayout=".U..LFRB.D.." gridsize="3 4" name="texture_block" />
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<material name="puck_mat" reflectance="0" rgba="0.2 0.2 0.2 1" shininess="0.5" specular="0" />
<material name="robot0:geomMat" shininess="0.03" specular="0.4" />
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<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
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geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_6" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_6" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_6" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_6" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_6" geom2="gen_geom_gadded_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_6" geom2="gen_geom_gadded_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_6" geom2="gen_geom_gadded_5" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
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fe68cd9637c9855d435d6f6e24e7c3cf8f3fdeb5 | 4,990 | xml | XML | body_mnist/workable-bodies/envs/309.xml | liusida/thesis-bodies | dceb8a36efd2cefc611f6749a52b56b9d3572f7a | [
"MIT"
] | null | null | null | body_mnist/workable-bodies/envs/309.xml | liusida/thesis-bodies | dceb8a36efd2cefc611f6749a52b56b9d3572f7a | [
"MIT"
] | null | null | null | body_mnist/workable-bodies/envs/309.xml | liusida/thesis-bodies | dceb8a36efd2cefc611f6749a52b56b9d3572f7a | [
"MIT"
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| 68.356164 | 169 | 0.624048 |
fe6994790905412c7fdc5e87342e8131b8382f8a | 1,456 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/6532_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6532_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6532_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
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</mujoco> | 38.315789 | 155 | 0.618819 |
fe6bf0d966172a38e904fc32bddeeafbd6f25f3d | 9,761 | xml | XML | hw1/downloads/mjpro150/model/humanoid.xml | erfanMhi/Deep-Reinforcement-Learning-CS285 | 4b832c232889b0f867c5d43b4f28c588607cfd60 | [
"MIT"
] | 91 | 2020-06-13T16:26:42.000Z | 2022-03-31T02:49:30.000Z | hw1/downloads/mjpro150/model/humanoid.xml | erfanMhi/Deep-Reinforcement-Learning-CS285 | 4b832c232889b0f867c5d43b4f28c588607cfd60 | [
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"MIT"
] | 16 | 2020-08-04T01:17:45.000Z | 2022-02-24T04:51:41.000Z | <mujoco model='humanoid'>
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<body name='left_upper_arm' pos='0 0.17 0.06' >
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<motor name='left_hip_y' gear='600' joint='left_hip_y' />
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| 71.248175 | 154 | 0.518185 |
fe6da7984b26938839d477015536388694d58b86 | 2,584 | xml | XML | dm_control/suite/cloth_v0.xml | gy20073/dm_control | ed8517226e18f90fa8b95491c827feeac6e2eda3 | [
"Apache-2.0"
] | 8 | 2019-10-07T03:37:02.000Z | 2022-01-19T18:36:27.000Z | dm_control/suite/cloth_v0.xml | bilkitty/dm_control | 9b908bb501643a1152cc95b9dfa29b96fd3e7061 | [
"Apache-2.0"
] | null | null | null | dm_control/suite/cloth_v0.xml | bilkitty/dm_control | 9b908bb501643a1152cc95b9dfa29b96fd3e7061 | [
"Apache-2.0"
] | 6 | 2019-10-24T18:43:38.000Z | 2022-01-12T23:50:30.000Z | <mujoco>
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<!--
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<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
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0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_6" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_6" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_6" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_6" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_6" geom2="gen_geom_gadded_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_6" geom2="gen_geom_gadded_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_6" geom2="gen_geom_gadded_5" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-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"/>
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</mujoco> | 159.635965 | 27,872 | 0.694151 |
fe7237659b83315bd2e4cd267df71df4d98947d3 | 1,773 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/4583_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
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] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4583_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4583_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
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</mujoco> | 43.243902 | 199 | 0.671743 |
fe7294d4c61efc65f5bf27ba1dc4f68dc1018a5a | 81,352 | xml | XML | herb_reconf/cluttered_scenes/easy_pushing_019_pitcher_base_0_0.3_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
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"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_019_pitcher_base_0_0.3_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
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<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/>
<!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> -->
<!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/>
<exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/>
<exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/>
<exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/>
<exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/>
<exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/>
<exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/>
<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>-->
</contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>-->
</actuator>
</mujoco> | 118.935673 | 2,294 | 0.688871 |
fe76a1033612efa03ee1eb7f5def347d14f4ab37 | 1,766 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/9050_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
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<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
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<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
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<!--
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<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
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<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
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<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
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<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
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<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
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<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
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<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
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<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
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<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
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<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
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<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
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<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
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<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
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<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/>
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<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/>
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<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/>
<!--<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>-->
<!--<pair geom1="//unnamed_geom_8" geom2="tabletop" friction="1 1 0.005 0.0001 0.0001" />-->
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<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
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<pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> -->
</contact>
<actuator>
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<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" />-->
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<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="10000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="10000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="10000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
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<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"/>
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<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
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<site name="herb/wam/hand_attachment" class="herb/wam/"/>
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<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>-->
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solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_4" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-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"/>
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<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
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<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"/>
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<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
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<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> | 115.931287 | 942 | 0.68594 |
fe91fca159d1dc7a764641d4d189b70797215a3c | 4,882 | xml | XML | assets/fetch_complex_objects/fetch/train_scene_hook_810.xml | NagisaZj/ac-teach | 481811d5c80d0dbee54f16c063b4ea3262b82050 | [
"MIT"
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Copyright 2019 Vikash Kumar
Model :: Objects (MuJoCoV2.0)
Author :: Vikash Kumar ([email protected]), Sudeep Dasari ([email protected] )
Details :: https://github.com/vikashplus/object_sim
License :: Under Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
====================================================== -©vk©-->
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<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"/>-->
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solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><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" 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1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_4" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
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<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
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</mujoco> | 152.365497 | 23,417 | 0.692807 |
fe95d170f67033cebb780f77cad03d2a4e6c346f | 87,238 | xml | XML | herb_reconf/cluttered_scenes/grasping_077_rubiks_cube_3_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_077_rubiks_cube_3_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_077_rubiks_cube_3_0.2_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
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<site name="herb/wam/hand_attachment" class="herb/wam/"/>
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solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_0" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="10000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="10000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="10000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="10000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>-->
</actuator>
</mujoco> | 136.951334 | 10,958 | 0.686169 |
fe96e9e71bc2a17122b4a964ed631682a8e9c970 | 30,593 | xml | XML | sr_common-melodic-devel/sr_description/mujoco_models/shared_assets_left.xml | nikwalia/piano-man | b2f3c508aa53bae341664231e4f04866f7c0ad34 | [
"MIT"
] | null | null | null | sr_common-melodic-devel/sr_description/mujoco_models/shared_assets_left.xml | nikwalia/piano-man | b2f3c508aa53bae341664231e4f04866f7c0ad34 | [
"MIT"
] | null | null | null | sr_common-melodic-devel/sr_description/mujoco_models/shared_assets_left.xml | nikwalia/piano-man | b2f3c508aa53bae341664231e4f04866f7c0ad34 | [
"MIT"
] | null | null | null | <mujoco>
<texture type="skybox" builtin="gradient" width="128" height="128" rgb1=".4 .6 .8" rgb2="0 0 0"/>
<texture name="texgeom" type="cube" builtin="flat" mark="cross" width="127" height="1278" rgb1="0.8 0.6 0.4"
rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
<texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512"/>
<material name='mat_plane' reflectance='0.3' texture="texplane" texrepeat="1 1" texuniform="true"/>
<material name="block_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.2 0.2 0.2 1"/>
<material name='geom' texture="texgeom" texuniform="true"/>
<material name="metal" reflectance="1.0" rgba="0.6 0.6 0.6 1.0" shininess="0.5" specular="1.0"/>
<material name="plastic" rgba="0.2 0.2 0.2 1.0" shininess="0.5"/>
<material name="rubber" rgba="0.3 0.3 0.3 1.0" shininess="0.0"/>
<mesh name="F1_visual" file="meshes/arm_and_hand_meshes/visual/F1.stl"/>
<mesh name="F1_collision" file="meshes/arm_and_hand_meshes/collision/F1.stl"/>
<mesh name="F2_visual" file="meshes/arm_and_hand_meshes/visual/F2.stl"/>
<mesh name="F2_collision_proximal" file="meshes/arm_and_hand_meshes/collision/decomposed/F2/F2_proximal.stl"/>
<mesh name="F2_collision_middle" file="meshes/arm_and_hand_meshes/collision/decomposed/F2/F2_middle.stl"/>
<mesh name="F2_collision_distal" file="meshes/arm_and_hand_meshes/collision/decomposed/F2/F2_distal.stl"/>
<mesh name="F3_visual" file="meshes/arm_and_hand_meshes/visual/F3.stl"/>
<mesh name="F3_collision_proximal" file="meshes/arm_and_hand_meshes/collision/decomposed/F3/F3_proximal.stl"/>
<mesh name="F3_collision_distal" file="meshes/arm_and_hand_meshes/collision/decomposed/F3/F3_distal.stl"/>
<mesh name="TH1_visual" file="meshes/arm_and_hand_meshes/visual/TH1_z.stl"/>
<mesh name="TH1_collision" file="meshes/arm_and_hand_meshes/collision/TH1.stl"/>
<mesh name="TH2_visual" file="meshes/arm_and_hand_meshes/visual/TH2_z.stl"/>
<mesh name="TH2_collision_proximal" file="meshes/arm_and_hand_meshes/collision/decomposed/TH2/TH2_proximal.stl"/>
<mesh name="TH2_collision_middle" file="meshes/arm_and_hand_meshes/collision/decomposed/TH2/TH2_middle.stl"/>
<mesh name="TH2_collision_distal" file="meshes/arm_and_hand_meshes/collision/decomposed/TH2/TH2_distal.stl"/>
<mesh name="TH3_visual" file="meshes/arm_and_hand_meshes/visual/TH3_z.stl"/>
<mesh name="TH3_collision_proximal" file="meshes/arm_and_hand_meshes/collision/decomposed/TH3/TH3_proximal.stl"/>
<mesh name="TH3_collision_distal" file="meshes/arm_and_hand_meshes/collision/decomposed/TH3/TH3_distal.stl"/>
<mesh name="forearm_visual" file="meshes/arm_and_hand_meshes/visual/forearm.stl"/>
<mesh name="forearm_collision" file="meshes/arm_and_hand_meshes/collision/decomposed/forearm/forearm.stl"/>
<mesh name="forearm_collision_wrist" file="meshes/arm_and_hand_meshes/collision/decomposed/forearm/forearm_wrist.stl"/>
<mesh name="forearm_plus_visual" file="meshes/arm_and_hand_meshes/visual/forearm_plus.stl"/>
<mesh name="forearm_plus_collision_1" file="meshes/arm_and_hand_meshes/collision/decomposed/forearm_plus/forearm_plus_1.stl"/>
<mesh name="forearm_plus_collision_2" file="meshes/arm_and_hand_meshes/collision/decomposed/forearm_plus/forearm_plus_2.stl"/>
<mesh name="forearm_plus_collision_3" file="meshes/arm_and_hand_meshes/collision/decomposed/forearm_plus/forearm_plus_3.stl"/>
<mesh name="forearm_plus_collision_4" file="meshes/arm_and_hand_meshes/collision/decomposed/forearm_plus/forearm_plus_4.stl"/>
<mesh name="forearm_plus_collision_5" file="meshes/arm_and_hand_meshes/collision/decomposed/forearm_plus/forearm_plus_5.stl"/>
<mesh name="knuckle_visual" file="meshes/arm_and_hand_meshes/visual/knuckle.stl"/>
<mesh name="knuckle_collision" file="meshes/arm_and_hand_meshes/collision/knuckle.stl"/>
<mesh name="palm_visual" file="meshes/arm_and_hand_meshes/visual/palm.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_0" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_1" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_001.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_2" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_002.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_3" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_003.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_4" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_004.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_5" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_005.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_6" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_006.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_7" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_007.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_8" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_008.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_9" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_009.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_10" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_010.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_11" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_011.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_12" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_012.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_13" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_013.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_14" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_014.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_15" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_015.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_16" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_016.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_17" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_017.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_18" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_018.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_19" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_019.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_20" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_020.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_21" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_021.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_22" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_022.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_23" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_023.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_24" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_024.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_25" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_025.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_26" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_026.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_27" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_027.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_28" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_028.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_29" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_029.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_30" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_030.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_31" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_031.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_32" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_032.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_33" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_033.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_34" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_034.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_35" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_035.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_36" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_036.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_37" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_037.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_38" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_038.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_39" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_039.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_40" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_040.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_41" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_041.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_42" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_042.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_43" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_043.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_44" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_044.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_45" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_045.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_46" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_046.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_47" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_047.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_48" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_048.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_49" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_049.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_50" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_050.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_51" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_051.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_52" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_052.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_53" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_053.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_54" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_054.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_55" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_055.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_56" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_056.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_57" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_057.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_58" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_058.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_59" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_059.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_60" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_060.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_61" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_061.stl" scale="-0.001 0.001 0.001"/>
<mesh name="palm_collision_62" file="meshes/arm_and_hand_meshes/collision/decomposed/palm/palmShape_IndexedFaceSet_062.stl" scale="-0.001 0.001 0.001"/>
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fe973a84a31ac00e16db42ed928a3ec955d91d35 | 2,717 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/2127_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
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"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2127_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
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<joint name="//unnamed_joint_2" class="/" type="free"/>
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<body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998">
<geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/>
<joint name="//unnamed_joint_3" class="/" type="free"/>
</body>
<body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998">
<geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/>
<joint name="//unnamed_joint_4" class="/" type="free"/>
</body> -->
<!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/>
<joint name="//unnamed_joint_5" class="/" type="free"/>
</body>-->
<!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998">
<geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/>
<joint name="//unnamed_joint_6" class="/" type="free"/>
</body>-->
<!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325">
<geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/>
<joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/>
</body>
<body name="target_obj" pos="0 0.0 0.325">
<geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/>
</body>-->
<!--<body name="gen_body_0" pos="0 0.0 0.3549998">
<geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_0" class="/" type="free"/>
</body>-->
<!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998">
<geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/>
</body>-->
<!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!-- <body name="virt_box_2" pos="0 .45 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/>
</body>
<body name="virt_box_3" pos="0 0.57243499223068691 0.3549998">
<geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/>
</body> -->
<body euler="0 0 1.9008978868053266" name="gen_body_0" pos="0 0 0.30054500001715495"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.18237356587979747 0.5814916902045969 0.594849873526945 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 3.293761521457581" name="gen_body_gadded_1" pos="0.13109820707521858 0.0 0.3078478648811964"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.11512414037723917 0.8584398474327353 0.9549028844787861 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 0.35376154086656963" name="gen_body_gadded_2" pos="0.471192185902917 0.03160090410909018 0.30016646494649485"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.5532395666634118 0.7170413642377145 0.43115606040331333 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"/>
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<site name="herb/wam/hand_attachment" class="herb/wam/"/>
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solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_4" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="10000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="10000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="10000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="10000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
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<velocity 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"/>
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</actuator>
</mujoco> | 158.88383 | 23,417 | 0.690996 |
fe9cbec5b989b10c9900e980d8ce7e87a3e59eda | 4,996 | xml | XML | body_mnist/workable-bodies/envs/14.xml | liusida/thesis-bodies | dceb8a36efd2cefc611f6749a52b56b9d3572f7a | [
"MIT"
] | null | null | null | body_mnist/workable-bodies/envs/14.xml | liusida/thesis-bodies | dceb8a36efd2cefc611f6749a52b56b9d3572f7a | [
"MIT"
] | null | null | null | body_mnist/workable-bodies/envs/14.xml | liusida/thesis-bodies | dceb8a36efd2cefc611f6749a52b56b9d3572f7a | [
"MIT"
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<!--joint armature="0" damping="0" limited="false" margin="0.01" name="root" pos="0 0 0" type="free"/-->
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<body name="right_back_leg" pos="0 0 0">
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</body>
</body>
</body>
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</worldbody>
<actuator>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_4" gear="150"/>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_3" gear="150"/>
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</mujoco>
| 68.438356 | 170 | 0.623699 |
fe9e45f2149b17fac9237bbd8c51a7d022291964 | 1,587 | xml | XML | envs/mujoco/envs/assets/full_peg_insertion_experiment_moving_hole_id=025.xml | hzm2016/assistive-gym-robosuite | 5c529f4444cc386383618bfa584341740a8468f9 | [
"MIT"
] | 1 | 2021-11-22T07:45:28.000Z | 2021-11-22T07:45:28.000Z | envs/mujoco/envs/assets/full_peg_insertion_experiment_moving_hole_id=025.xml | hzm2016/assistive-gym-robosuite | 5c529f4444cc386383618bfa584341740a8468f9 | [
"MIT"
] | null | null | null | envs/mujoco/envs/assets/full_peg_insertion_experiment_moving_hole_id=025.xml | hzm2016/assistive-gym-robosuite | 5c529f4444cc386383618bfa584341740a8468f9 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?>
<mujoco>
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<actuator>
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| 32.387755 | 113 | 0.541903 |
fe9fe8033f2540aff9518e1032e5d9c06b10b1d3 | 2,721 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/2924_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2924_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2924_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
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<actuator>
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</actuator>
</mujoco> | 50.388889 | 223 | 0.656009 |
fea0be2110f8a3ff9100cc9ea399cbb2665f2bfe | 1,022 | xml | XML | cubelarge/body.xml | vikashplus/object_sim | 87cd8dd5a11518b94fca16bc22bb04f6836c6aa7 | [
"Apache-2.0"
] | 1 | 2022-03-13T21:24:49.000Z | 2022-03-13T21:24:49.000Z | cubelarge/body.xml | vikashplus/object_sim | 87cd8dd5a11518b94fca16bc22bb04f6836c6aa7 | [
"Apache-2.0"
] | null | null | null | cubelarge/body.xml | vikashplus/object_sim | 87cd8dd5a11518b94fca16bc22bb04f6836c6aa7 | [
"Apache-2.0"
] | null | null | null | <mujocoinclude model="">
<!-- =================================================
Copyright 2019 Vikash Kumar
Model :: Objects (MuJoCoV2.0)
Author :: Vikash Kumar ([email protected]), Sudeep Dasari ([email protected] )
Details :: https://github.com/vikashplus/object_sim
License :: Under Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
====================================================== -©vk©-->
<geom name="cubelarge_visual" mesh="cubelarge"/>
<geom name="cubelarge_contact0" mesh="contact0" class="object_col"/>
</mujocoinclude> | 92.909091 | 519 | 0.672211 |
fea60e614086035c40358bda558929c8fa4c7348 | 1,451 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/5782_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5782_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5782_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">
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</option>
<include file="../shared.xml" />
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<worldbody>
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<body name="floor0" pos="0.8 0.75 0">
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<include file="../robot.xml" />
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<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
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<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
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</body>
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</worldbody>
</mujoco> | 38.184211 | 155 | 0.617505 |
feaad77fcbc36ef6d81c2d56ad98adbba71c0c73 | 2,719 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7682_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
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<body name="rightclaw"
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<body name="leftclaw" pos=".01 .02 0">
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<motor joint="right_j4" ctrlrange="-100.0 100.0" ctrllimited="false"/>
<motor joint="right_j5" ctrlrange="-100.0 100.0" ctrllimited="false"/>
<motor joint="right_j6" ctrlrange="-100.0 100.0" ctrllimited="false"/>
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| 65.610592 | 203 | 0.467832 |
feafbe56b3abeeca877380a0b5543822562dfb13 | 96,380 | xml | XML | herb_reconf/cluttered_scenes/grasping_010_potted_meat_can_3_0.4_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/grasping_010_potted_meat_can_3_0.4_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/grasping_010_potted_meat_can_3_0.4_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
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solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_3" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="10000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="10000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="10000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="10000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>-->
</actuator>
</mujoco> | 151.302983 | 19,113 | 0.689448 |
feb01ffdf2def7eac6a2e3fff62af6870e99b362 | 2,726 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/5777_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5777_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5777_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>
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<mesh file="head_tilt_link_collision.stl" name="robot0:head_tilt_link"></mesh>
<mesh file="l_wheel_link_collision.stl" name="robot0:l_wheel_link"></mesh>
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</asset>
<equality>
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</equality>
<contact>
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<exclude body1="robot0:torso_lift_link" body2="robot0:shoulder_pan_link"></exclude>
</contact>
<default>
<default class="robot0:fetch">
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<default class="robot0:fetchGripper">
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</default>
<default class="robot0:grey">
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</default>
<default class="robot0:blue">
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</default>
</default>
</default>
</mujoco>
| 64.223881 | 142 | 0.653498 |
feb47cccec1358df0c85af8b126679e671e604b5 | 2,722 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/2554_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2554_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2554_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
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<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" />
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</actuator>
</mujoco> | 50.407407 | 223 | 0.65687 |
feb891d99065d023060eb736e1e1feb33850b270 | 2,726 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/4191_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4191_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4191_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
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<include file="../robot.xml" />
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<body name="table_top" pos="1.3 0.75 0.36">
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<site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
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<site name="object0" pos="-0.00012562789743762802 -0.0016367911529053792 -0.0008152556073764512" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.002199448426132104 0.00020790017668549784 0.02726353477697381" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
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<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.481481 | 222 | 0.65774 |
febe6cc54981c001807f45d6505fbb9f57c50262 | 3,521 | xml | XML | envs/mujoco/envs/assets/hole/polyhedral_hole_inner=0-017711_outer=0-10_height=0-05_num_facets=16_id=018.xml | hzm2016/assistive-gym-robosuite | 5c529f4444cc386383618bfa584341740a8468f9 | [
"MIT"
] | 1 | 2021-11-22T07:45:28.000Z | 2021-11-22T07:45:28.000Z | envs/mujoco/envs/assets/hole/polyhedral_hole_inner=0-017711_outer=0-10_height=0-05_num_facets=16_id=018.xml | hzm2016/assistive-gym-robosuite | 5c529f4444cc386383618bfa584341740a8468f9 | [
"MIT"
] | null | null | null | envs/mujoco/envs/assets/hole/polyhedral_hole_inner=0-017711_outer=0-10_height=0-05_num_facets=16_id=018.xml | hzm2016/assistive-gym-robosuite | 5c529f4444cc386383618bfa584341740a8468f9 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?>
<mujoco>
<body name="hole">
<geom class="collision" euler="0 0 1.5707963267948966" pos="0.05885544200596828 0.0 0.025"
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| 85.878049 | 117 | 0.683897 |
febf94cea54b48c70c588c9c32a781db644a1818 | 5,617 | xml | XML | mujoco/all_envs/imperfect_halfcheetah/halfcheetah/assets/half_cheetah_front_0.45.xml | EvieQ01/Learning-Feasibility-Different-Dynamics | 73786b11137b8ba9840d00ec4d258c1296b0a595 | [
"MIT"
] | null | null | null | mujoco/all_envs/imperfect_halfcheetah/halfcheetah/assets/half_cheetah_front_0.45.xml | EvieQ01/Learning-Feasibility-Different-Dynamics | 73786b11137b8ba9840d00ec4d258c1296b0a595 | [
"MIT"
] | null | null | null | mujoco/all_envs/imperfect_halfcheetah/halfcheetah/assets/half_cheetah_front_0.45.xml | EvieQ01/Learning-Feasibility-Different-Dynamics | 73786b11137b8ba9840d00ec4d258c1296b0a595 | [
"MIT"
] | null | null | null | <!-- Cheetah Model
The state space is populated with joints in the order that they are
defined in this file. The actuators also operate on joints.
State-Space (name/joint/parameter):
- rootx slider position (m)
- rootz slider position (m)
- rooty hinge angle (rad)
- bthigh hinge angle (rad)
- bshin hinge angle (rad)
- bfoot hinge angle (rad)
- fthigh hinge angle (rad)
- fshin hinge angle (rad)
- ffoot hinge angle (rad)
- rootx slider velocity (m/s)
- rootz slider velocity (m/s)
- rooty hinge angular velocity (rad/s)
- bthigh hinge angular velocity (rad/s)
- bshin hinge angular velocity (rad/s)
- bfoot hinge angular velocity (rad/s)
- fthigh hinge angular velocity (rad/s)
- fshin hinge angular velocity (rad/s)
- ffoot hinge angular velocity (rad/s)
Actuators (name/actuator/parameter):
- bthigh hinge torque (N m)
- bshin hinge torque (N m)
- bfoot hinge torque (N m)
- fthigh hinge torque (N m)
- fshin hinge torque (N m)
- ffoot hinge torque (N m)
-->
<mujoco model="cheetah">
<compiler angle="radian" coordinate="local" inertiafromgeom="true" settotalmass="14"/>
<default>
<joint armature=".1" damping=".01" limited="true" solimplimit="0 .8 .03" solreflimit=".02 1" stiffness="8"/>
<geom conaffinity="0" condim="3" contype="1" friction=".4 .1 .1" rgba="0.8 0.6 .4 1" solimp="0.0 0.8 0.01" solref="0.02 1"/>
<motor ctrllimited="true" ctrlrange="-1 1"/>
</default>
<size nstack="300000" nuser_geom="1"/>
<option gravity="0 0 -9.81" timestep="0.01"/>
<asset>
<texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>
<texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
<texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
<material name="geom" texture="texgeom" texuniform="true"/>
</asset>
<worldbody>
<light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
<geom conaffinity="1" condim="3" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane"/>
<body name="torso" pos="0 0 .7">
<camera name="track" mode="trackcom" pos="0 -3 0.3" xyaxes="1 0 0 0 0 1"/>
<joint armature="0" axis="1 0 0" damping="0" limited="false" name="rootx" pos="0 0 0" stiffness="0" type="slide"/>
<joint armature="0" axis="0 0 1" damping="0" limited="false" name="rootz" pos="0 0 0" stiffness="0" type="slide"/>
<joint armature="0" axis="0 1 0" damping="0" limited="false" name="rooty" pos="0 0 0" stiffness="0" type="hinge"/>
<geom fromto="-.5 0 0 .5 0 0" name="torso" size="0.046" type="capsule"/>
<geom axisangle="0 1 0 .87" name="head" pos=".6 0 .1" size="0.046 .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">
<joint axis="0 1 0" damping="3" name="bfoot" pos="0 0 0" range="-.4 .785" stiffness="120" type="hinge"/>
<geom axisangle="0 1 0 -.27" name="bfoot" pos=".03 0 -.097" rgba="0.9 0.6 0.6 1" size="0.046 .094" type="capsule"/>
</body>
</body>
</body>
<body name="fthigh" pos=".5 0 0">
<joint axis="0 1 0" damping="4.5" name="fthigh" pos="0 0 0" range="-1 .7" stiffness="180" type="hinge"/>
<geom axisangle="0 1 0 .52" name="fthigh" pos="-.07 0 -.12" size="0.046 .133" type="capsule"/>
<body name="fshin" pos="-.14 0 -.24">
<joint axis="0 1 0" damping="3" name="fshin" pos="0 0 0" range="-1.2 .87" stiffness="120" type="hinge"/>
<geom axisangle="0 1 0 -.6" name="fshin" pos=".065 0 -.09" rgba="0.9 0.6 0.6 1" size="0.046 .106" type="capsule"/>
<body name="ffoot" pos=".13 0 -.18">
<joint axis="0 1 0" damping="1.5" name="ffoot" pos="0 0 0" range="-.5 .5" stiffness="60" type="hinge"/>
<geom axisangle="0 1 0 -.6" name="ffoot" pos=".045 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .07" type="capsule"/>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor gear="120" joint="bthigh" name="bthigh"/>
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<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
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<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
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<!--
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<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
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<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
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<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
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<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
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<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
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<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
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<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
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<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
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<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
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<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
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<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
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<body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
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<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
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<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
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<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
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geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_4" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="10000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="10000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="10000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="10000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<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> | 158.821036 | 23,417 | 0.690874 |
fec7ec2aa70b372cd9b5b1ba364863568013bbc3 | 8,245 | xml | XML | gym_wmgds/envs/robotics/assets/fetch/pick_and_place_obstacle_multi.xml | ozcell/gym_wmgds_ma | c2cb22943913361947216b908d50decc46616e99 | [
"Python-2.0",
"OLDAP-2.7"
] | 1 | 2020-12-23T16:38:15.000Z | 2020-12-23T16:38:15.000Z | gym_wmgds/envs/robotics/assets/fetch/pick_and_place_obstacle_multi.xml | ozcell/gym_wmgds_ma | c2cb22943913361947216b908d50decc46616e99 | [
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fec95a6ff48ba1144bfe8be69e24dfd2d79dbf26 | 2,239 | xml | XML | dex_envs/assets/hand/manipulate_power_drill.xml | huangwl18/geometry-dex | 0c629316258ef560b360c6103d83d5cb828e3ccd | [
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fed0b068d3fbb3e931fbc7923768d5521f4871c2 | 2,721 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/4600_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
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