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<geom name="distr_cab_g26" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_cab_model_normalized_collision_28._coll"/>
<geom name="distr_cab_g27" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_cab_model_normalized_collision_14._coll"/>
<geom name="distr_cab_g28" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_cab_model_normalized_collision_15._coll"/>
<geom name="distr_cab_g29" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_cab_model_normalized_collision_29._coll"/>
<geom name="distr_cab_g30" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_cab_model_normalized_collision_11._coll"/>
<geom name="distr_cab_g31" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_cab_model_normalized_collision_10._coll"/>
<geom name="distr_cab_g32" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_cab_model_normalized_collision_12._coll"/>
<geom name="distr_cab_g33" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_cab_model_normalized_collision_13._coll"/>
<site name="distr_cab_default_site" pos="0 0 0" size="0.002" rgba="1 0 0 0"/>
</body>
</worldbody>
<actuator>
<general name="robot0_torq_j1" joint="robot0_joint1" ctrllimited="true" ctrlrange="-80 80"/>
<general name="robot0_torq_j2" joint="robot0_joint2" ctrllimited="true" ctrlrange="-80 80"/>
<general name="robot0_torq_j3" joint="robot0_joint3" ctrllimited="true" ctrlrange="-80 80"/>
<general name="robot0_torq_j4" joint="robot0_joint4" ctrllimited="true" ctrlrange="-80 80"/>
<general name="robot0_torq_j5" joint="robot0_joint5" ctrllimited="true" ctrlrange="-80 80"/>
<general name="robot0_torq_j6" joint="robot0_joint6" ctrllimited="true" ctrlrange="-12 12"/>
<general name="robot0_torq_j7" joint="robot0_joint7" ctrllimited="true" ctrlrange="-12 12"/>
<general name="mobilebase0_actuator_mobile_forward" joint="mobilebase0_joint_mobile_forward" ctrllimited="true" ctrlrange="-1 1" forcelimited="true" forcerange="-600 600" biastype="affine" gainprm="1000" biasprm="0 0 -1000"/>
<general name="mobilebase0_actuator_mobile_side" joint="mobilebase0_joint_mobile_side" ctrllimited="true" ctrlrange="-1 1" forcelimited="true" forcerange="-600 600" biastype="affine" gainprm="1000" biasprm="0 0 -1000"/>
<general name="mobilebase0_actuator_mobile_yaw" joint="mobilebase0_joint_mobile_yaw" ctrllimited="true" ctrlrange="-1.5 1.5" forcelimited="true" forcerange="-600 600" biastype="affine" gainprm="1500" biasprm="0 0 -1500"/>
<general name="mobilebase0_actuator_torso_height" joint="mobilebase0_joint_torso_height" ctrllimited="true" ctrlrange="-100000 100000" forcelimited="false"/>
<general name="gripper0_right_gripper_finger_joint1" joint="gripper0_right_finger_joint1" ctrllimited="true" ctrlrange="0 0.04" forcelimited="true" forcerange="-20 20" biastype="affine" gainprm="1000" biasprm="0 -1000"/>
<general name="gripper0_right_gripper_finger_joint2" joint="gripper0_right_finger_joint2" ctrllimited="true" ctrlrange="-0.04 0" forcelimited="true" forcerange="-20 20" biastype="affine" gainprm="1000" biasprm="0 -1000"/>
</actuator>
<sensor>
<force site="gripper0_right_ft_frame" name="gripper0_right_force_ee"/>
<torque site="gripper0_right_ft_frame" name="gripper0_right_torque_ee"/>
</sensor>
</mujoco>
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